Crawler-type high-altitude operation machine and driving control system and method thereof

Abstract

The invention discloses a crawler-type high-altitude operation machine and a running control system and method.The crawler-type high-altitude operation machine comprises a chassis, the running control system is arranged on the chassis and comprises a walking device and a control module, and the walking device comprises a tensioning mechanism, a crawler belt assembly and a walking wheel assembly; the tensioning mechanism is supported on the inner circumferential wall of the crawler belt assembly through self-tensioning force, and the walking wheel assembly is used for driving the crawler belt assembly to move along the ground; the control module is electrically connected with the tensioning mechanism and is configured to obtain the current tensioning force of the tensioning mechanism in real time; comparing the current tensile force with a preset tensile force; and under the condition that the current tensioning force reaches the preset tensioning force, the tensioning mechanism maintains the current tensioning force to conduct tensioning operation. Compared with the situation that the tensioning force state of the system cannot be monitored in time through a traditional tensioning force adjusting mode of the crawler-type high-altitude operation machine, the current tensioning force of the tensioning mechanism can be monitored in real time, self-adaptive adjustment of the tensioning force is achieved, and the precision is higher.

Description

Technical Field

[0001] The present application belongs to the technical field of aerial work machinery, and specifically relates to a crawler-type aerial work machinery and a driving control system and method thereof. Background Art

[0002] Crawler aerial work machines, such as crawler scissor aerial work machines, are usually vertical transport equipment. When the controller controls the equipment to lift or walk, it consumes battery power, and the battery power is related to the endurance of the equipment. Factors that affect the battery power of crawler scissor aerial work platform equipment include: platform load, driving speed, track tension and surface conditions. The crawler scissor aerial work platform adopts a crawler chassis design and an electric drive system, which provides the ability to operate under soft, gully, uneven and other harsh road conditions. Due to its wide range of applications, it is necessary to carry out field operations and adapt to a variety of complex terrain environments. When working, it consumes more electricity than indoor operating equipment. Therefore, how to save energy and reduce consumption and travel efficiently has become a technical problem that needs to be solved urgently. Because the driving performance and energy consumption of the crawler scissor aerial work platform are significantly affected by the tension of the track. The current tension of the track in the prior art needs to be adjusted by manually connecting the oiling machine to the tensioning cylinder on the crawler chassis. However, this type of track tension adjustment requires manual measurement, which is not very accurate and makes it impossible to monitor the tension status of the system in a timely manner. Summary of the invention

[0003] The purpose of the present application is to provide a crawler-type aerial work machine and a travel control system and method thereof, so as to realize automatic monitoring and adjustment of the tensioning force of the tensioning mechanism.

[0004] In order to achieve the above-mentioned purpose, the present application provides a driving control system of a crawler-type aerial work machine on one hand, the crawler-type aerial work machine includes a chassis, and the driving control system is arranged on the chassis and includes:

[0005] The walking device includes a tensioning mechanism, a crawler track assembly and a traveling wheel assembly. The tensioning mechanism is supported on the inner circumferential wall of the crawler track assembly by its own tensioning force, and the traveling wheel assembly is used to drive the crawler track assembly to move along the ground;

[0006] A control module is electrically connected to the tensioning mechanism and is configured to:

[0007] When the crawler aerial work machine is working, the current tensioning force of the tensioning mechanism is obtained in real time; the current tensioning force is compared with the preset tensioning force;

[0008] When the current tensioning force reaches the preset tensioning force, the tensioning mechanism maintains the current tensioning force to perform the tensioning operation.

[0009] In some embodiments, the tensioning mechanism comprises:

[0010] Electric cylinder;

[0011] A linear drive assembly is installed in the electric cylinder and includes a drive member and a linear motion member, wherein a first end of the linear motion member is linearly connected to the drive member and a second end of the linear motion member extends out of the electric cylinder;

[0012] Tensioner pulley;

[0013] The tensioning bracket is installed on the axial side end surface of the tensioning wheel. The tensioning bracket is connected to the second end of the linear motion member. The linear motion member is used to apply a driving force to the tensioning bracket to drive the tensioning wheel to apply a tensioning force to the inner circumferential wall of the track assembly.

[0014] In some embodiments, the control module includes:

[0015] A force sensor is installed inside the electric cylinder, and is used to detect the driving force applied by the second end of the linear motion member to the tensioning bracket;

[0016] The controller is electrically connected to the force sensor and the driving member, and is used to control the working parameters of the driving member according to the driving force signal sent by the force sensor.

[0017] In some embodiments, the travel wheel assembly includes:

[0018] Walking support;

[0019] A driving wheel is mounted on the walking bracket, the outer peripheral wall of the driving wheel is meshed with the inner peripheral wall of the crawler track assembly, the driving wheel and the tensioning wheel are arranged at intervals, and the driving wheel and the tensioning wheel cooperate to tension and support the inner peripheral wall of the crawler track assembly along the length direction;

[0020] The supporting rollers are installed on the walking frame. There are multiple supporting rollers and they are arranged at intervals. The multiple supporting rollers cooperate to support the crawler track assembly.

[0021] In some embodiments, the travel control system further comprises a track roller mounted on the traveling support, wherein the track roller abuts against the inner peripheral wall of the track assembly.

[0022] The second aspect of the present application provides a travel control method for a crawler-type aerial work machine, which is applied to the travel control system as described above. The travel control method comprises the steps of:

[0023] Preset the ground type and the preset tension force matching the ground type;

[0024] Acquiring a current ground type and controlling the tensioning mechanism to perform a tensioning action according to the current ground type;

[0025] When the crawler aerial work machine is working, the current tensioning force of the tensioning mechanism is obtained in real time;

[0026] Compare the current tension and the preset tension;

[0027] When the current tensioning force reaches the preset tensioning force, the tensioning mechanism maintains the current tensioning force to perform the tensioning operation.

[0028] In some embodiments, the step of presetting a preset tension force that matches the ground type includes:

[0029] Select multiple test points with different tensions on the ground type;

[0030] Record the sustainable working time of the crawler aerial work machine at each test point under the current tension;

[0031] The tensioning force that best matches the ground type is determined as the preset tensioning force according to the sustainable working time of each test point.

[0032] In some embodiments, the step of controlling the tensioning mechanism to perform a tensioning action according to the current ground type includes:

[0033] Output tensioning working parameters adapted to the current ground type according to the current ground type;

[0034] Sending a tensioning work instruction to the tensioning mechanism according to the tensioning work parameters;

[0035] The tensioning mechanism is controlled to perform tensioning action according to the tensioning work instruction.

[0036] In some embodiments, the driving control method further comprises the steps of:

[0037] When the current tensioning force does not reach the preset tensioning force, an abnormal alarm is issued;

[0038] Power on again to control the tensioning mechanism to reach the preset tensioning force.

[0039] In some embodiments, the step of powering on again to control the tensioning mechanism to reach a preset tensioning force comprises:

[0040] Obtaining the theoretical output torque required by the driving member according to the preset tensioning force;

[0041] Adjust the output torque of the driving member to the theoretical output torque;

[0042] The driving member is controlled to work according to the theoretical output torque to drive the tensioning wheel to apply a preset tensioning force to the track assembly.

[0043] A third aspect of the present application provides a crawler-type aerial work machine, the crawler-type aerial work machine comprising the driving control system as described above.

[0044] Through the above technical solution, the crawler-type aerial work machine and its driving control system and method provided by the embodiment of the present invention have the following beneficial effects:

[0045] The driving control system of the present application includes a traveling device and a control module. The traveling device includes a tensioning mechanism, a track assembly and a traveling wheel assembly. The tensioning mechanism is supported on the inner circumferential wall of the track assembly by its own tensioning force. In the process of adjusting the tensioning force of the track assembly by the tensioning mechanism, the present application first obtains the current tensioning force applied by the tensioning mechanism to the track assembly in real time, sets a most energy-saving preset tensioning force for different types of driving road surfaces, and compares the obtained current tensioning force with the preset tensioning force. When the current tensioning force reaches the preset tensioning force, it means that the tensioning force of the tensioning mechanism has reached the best tensioning force that best matches the current type of road surface. At this time, the tensioning mechanism performs tensioning operations according to the current tensioning force and maintains the current tensioning operation state. Compared with the tensioning force adjustment method of the traditional crawler-type aerial work machinery that cannot monitor the tensioning force state of the system in time, the present application can monitor the current tensioning force of the tensioning mechanism in real time and realize adaptive adjustment of the tensioning force.

[0046] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0048] Figure 1 A schematic diagram of the structure of the crawler-type aerial work machine of the present application;

[0049] Figure 2 for Figure 1 A magnified schematic diagram of the middle part;

[0050] Figure 3 It is a flow chart of the driving control method of the crawler-type aerial work machine of the present application.

[0051] Description of Reference Numerals

[0052] 1 Working platform 46 Traveling support

[0053] 2 Scissor arms 47 Track rollers

[0054] 3 Chassis 48 tension bracket

[0055] 4 Travel device 49 Electric cylinder

[0056] 41 driving wheel 45 motor

[0057] 42 Track assembly 451 Ball screw

[0058] 43 support roller 452 control cable

[0059] 44 tension wheel 5 controller DETAILED DESCRIPTION

[0060] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0061] The crawler-type aerial work machine and its driving control system and method according to the present application are described below with reference to the accompanying drawings.

[0062] like Figure 1 and Figure 2 As shown, the present application provides a travel control system for a crawler-type aerial work machinery. The crawler-type aerial work machinery includes a chassis 3. The travel control system is arranged on the chassis 3 and includes a walking device 4 and a control module. The walking device 4 includes a tensioning mechanism, a crawler assembly 42 and a walking wheel assembly. The tensioning mechanism is supported on the inner circumferential wall of the crawler assembly 42 by its own tensioning force to apply tensioning force to the inner circumferential wall of the crawler assembly 42, thereby ensuring that the crawler assembly 42 is in a tensioned state. The walking wheel assembly is used to drive the crawler assembly 42 to move along the ground to realize the ground walking of the entire crawler-type aerial work machinery; the control module is electrically connected to the tensioning mechanism and is configured to: obtain the current tensioning force of the tensioning mechanism in real time during the tensioning operation; compare the current tensioning force with the preset tensioning force; when the current tensioning force reaches the preset tensioning force, the tensioning mechanism maintains the current tensioning force for tensioning operation.

[0063] Among them, the control module stores common ground types and the optimal preset tensioning force of the tensioning mechanism corresponding to each type of ground during tensioning operation. Under the optimal preset tensioning force of the track assembly 42, the entire crawler-type aerial work machine reaches the optimal energy-saving state.

[0064] Compared with the traditional crawler aerial work machinery's tension adjustment method that cannot monitor the system's tension status in a timely manner, the present application can monitor the current tension of the tensioning mechanism in real time and realize adaptive adjustment of the tension with higher precision, and keep the equipment in an optimal energy-saving state for operation.

[0065] Specifically, when the crawler-type aerial work machine is operating, during the tensioning operation of the crawler assembly 42, the current tensioning force applied by the tensioning mechanism to the crawler assembly 42 is obtained in real time. Since a preset tensioning force that is most energy-efficient is set for different types of driving roads, the obtained current tensioning force is compared with the preset tensioning force. When the current tensioning force reaches the preset tensioning force, it means that the tensioning force of the tensioning mechanism has reached the best tensioning force that best matches the current type of road surface. At this time, the tensioning mechanism performs tensioning according to the current tensioning force and maintains the current tensioning operation state. When the current tensioning force does not reach the preset tensioning force, an abnormal alarm is issued. After the alarm, the tensioning force will be adjusted when the power is turned on again. After adjusting to the preset tensioning force, the control is stopped and monitoring continues.

[0066] In some embodiments, the tensioning mechanism includes an electric cylinder 49, a linear drive assembly, a tensioning wheel 44 and a tensioning bracket 48; the linear drive assembly is installed in the electric cylinder 49 and includes a driving member and a linear motion member, the first end of the linear motion member is linearly driven and connected to the driving member, and the second end extends out of the electric cylinder 49; the tensioning bracket 48 is installed on the axial side end face of the tensioning wheel 44, the tensioning bracket 48 is connected to the second end of the linear motion member, and the linear motion member is used to apply a driving force to the tensioning bracket 48 to drive the tensioning wheel 44 to apply a tensioning force to the inner circumferential wall of the track assembly 42.

[0067] The driving member is a motor 45, and the linear driving member is a ball screw 451. The output shaft of the motor 45 is connected to the ball screw 451. A mounting seat is threadedly connected to the ball screw 451, and the mounting seat is connected to the tensioning bracket 48. When the motor 45 rotates to drive the ball screw 451 to rotate, the mounting seat can be driven to perform linear motion along the length direction of the ball screw 451, thereby changing the driving force applied by the ball screw 451 to the tensioning bracket 48. Since the tensioning bracket 48 is connected to the axial end face of the tensioning wheel 44, the driving force received by the tensioning bracket 48 can be converted into the tensioning force of the tensioning wheel 44 on the track assembly 42. The tensioning wheel 44 applies different tensioning forces to the track assembly 42 as the tensioning bracket 48 moves, so as to achieve the purpose of adjusting the tensioning force of the tensioning mechanism. Compared with the traditional oil cylinder tensioning method, the present application can realize adaptive adjustment of the tensioning wheel 44 with higher adjustment accuracy through the cooperation among multiple components such as the electric cylinder 49, the motor 45, the ball screw 451 and the tensioning bracket 48.

[0068] In some embodiments, the control module includes a force sensor and a controller 5; the force sensor is installed inside the electric cylinder 49, and the force sensor is used to detect the driving force applied by the second end of the linear motion member to the tensioning bracket 48. Since the force sensor is located inside the electric cylinder 49, the driving force of the ball screw 451 can be transmitted to the controller 5 through the control cable 452, and the driving force applied by the ball screw 451 to the tensioning bracket 48 is the current tensioning force of the track assembly 42; the controller 5 is electrically connected to the force sensor and the driving member, and the controller 5 is used to control the working parameters of the driving member according to the driving force signal sent by the force sensor, wherein the working parameters of the motor 45 may be the speed and rotation direction of the motor 45, etc.

[0069] When operating, the system can select the appropriate working surface in the ground type menu of the control module: hard and flat road, gravel road, muddy road and other ground types.

[0070] When the ground type is selected, the controller 5 calls the control parameters of the current ground type, controls the tensioning mechanism on the walking device 4 to adjust to the appropriate tension through the motor 45 driver, and feeds back the current track assembly 42 tension data to the controller 5 through the force sensor inside the electric cylinder 49. The controller 5 has built-in the most energy-saving tension data for different ground types. When the current tension fed back by the force sensor reaches the best energy-saving state, the controller 5 stops outputting and the motor 45 brakes to maintain the current tension. Every time the power is turned on, the controller 5 detects the current tension of the track assembly 42. When the current tension of the track assembly 42 is not in the most energy-saving state on the current ground, an alarm prompts that the tension needs to be adjusted. The tension adjustment needs to be manually confirmed to be safe before it can be executed.

[0071] After the detection is completed, when the current tensioning force of the tensioning mechanism obtained by the controller 5 is not the preset tensioning force set for the current road surface, the controller 5 controls the speed and forward and reverse rotation of the motor 45 through the control cable 452 to drive the ball screw 451 to move linearly, thereby realizing the tensioning force adjustment of the crawler assembly 42. Figure 2 As shown, the traveling wheel assembly includes a traveling bracket 46, a driving wheel 41 and a supporting roller 47; the driving wheel 41 is mounted on the traveling bracket 46, the outer peripheral wall of the driving wheel 41 is meshed with the inner peripheral wall of the track assembly 42, the driving wheel 41 and the tensioning wheel 44 are arranged at intervals, and the driving wheel 41 and the tensioning wheel 44 cooperate to tension and support the inner peripheral wall of the track assembly 42 along the length direction; the supporting roller 47 is mounted on the traveling bracket 46, the number of the supporting rollers 47 is multiple and they are arranged at intervals, and the multiple supporting rollers 47 cooperate to support the track assembly 42.

[0072] Among them, when the track assembly 42 is tensioned, the tensioning wheel 44 and the driving wheel 41 are respectively located at the inner side walls of the two ends of the track assembly 42 along the length direction, and the outer peripheral wall of the driving wheel 41 has a plurality of first gear teeth, and the inner peripheral wall of the track assembly 42 has a second gear tooth meshing with the first gear teeth. A travel motor is also provided in the chassis 3, and the driving wheel 41 is connected to the travel motor. When the travel motor rotates, it can drive the driving wheel 41 to rotate, so that the driving wheel 41 drives the track assembly 42 to move, thereby realizing the walking of the entire crawler-type aerial work machine. The track assembly 42 is in contact with the ground, and the entire travel bracket 46 is the main structure of the entire travel device 4, which is mainly used to support the track assembly 42. A plurality of supporting rollers 47 are provided on the travel bracket 46, and the axial end faces of the plurality of supporting rollers 47 are connected to the travel bracket 46. The plurality of supporting rollers 47 cooperate with the inner peripheral wall of the track assembly 42 to support the inner peripheral wall of the track assembly 42.

[0073] In some embodiments, the driving control system also includes a track roller 43 installed on a traveling frame 46, and the track roller 43 abuts against the inner circumferential wall of the track assembly 42. The setting of the track roller 43 can support the function of the track assembly 42, thereby preventing the track assembly 42 from becoming loose inside during operation and affecting the walking efficiency.

[0074] like Figure 3 As shown, the second aspect of the present application provides a driving control method for a crawler-type aerial work machine, which is applied to the driving control system as described above. The driving control method comprises the steps of:

[0075] S10: presetting a ground type and a preset tension force matching the ground type;

[0076] S20: Acquire the current ground type and control the tensioning mechanism to perform a tensioning action according to the current ground type;

[0077] S30: When the crawler-type aerial work machine is working, obtaining the current tensioning force of the tensioning mechanism in real time;

[0078] S40: comparing the current tensioning force with the preset tensioning force;

[0079] S50: When the current tensioning force reaches the preset tensioning force, the tensioning mechanism maintains the current tensioning force to perform the tensioning operation.

[0080] Since the crawler chassis 3 has bad running conditions, the crawler running device 4 is required to have sufficient strength and rigidity, and good running and turning capabilities. The strength and rigidity of the running device 4 are usually related to the tension of the crawler assembly 42. The appropriate tension can reduce the impact load and extra power consumption during running, and ensure that the crawler assembly 42 will not break or derail due to impact during the running of the vehicle. When constructing on soft soil or cobblestone ground, the tension of the crawler should be slightly looser to reduce the running resistance because a lot of mud will stick to the crawler; when constructing on hard and flat roads, the tension of the crawler needs to be adjusted slightly tighter to increase the stability of the crawler; when working in desert areas, due to the bad ground conditions, the tension of the crawler should be adjusted more loose to adapt to the fluidity of the sand.

[0081] In view of this, since different types of road surfaces require different optimal tensions of the crawler assembly 42, the driving control method of the present application compares the preset tension matched by the current ground type with the current tension. When the current tension reaches the optimal preset tension matched with the ground, it means that the current tension has met the ground tension requirements of this type, and the control module controls the motor 45 to stop working so that the tension wheel 44 maintains the current tension for continuous tensioning. In this embodiment, the built-in energy-saving preset tension value is compared with the current tension value transmitted by the force sensor, so as to realize real-time monitoring of the crawler tension state, so that the entire crawler aerial work machine can operate in an optimal energy-saving state, reduce power consumption, and improve the endurance of the equipment.

[0082] In some embodiments, the step of presetting a preset tension force that matches the ground type includes:

[0083] Select multiple test points with different tensions on the ground type;

[0084] Record the sustainable working time of the crawler aerial work machine at each test point under the current tension;

[0085] The tensioning force that best matches the ground type is determined as the preset tensioning force according to the sustainable working time of each test point.

[0086] When obtaining the preset tensioning force that best matches the ground type, since the tensioning force value is controlled according to the distance that the ball screw extends out of the electric cylinder, the distances that the ball screws with different tensioning forces extend out of the electric cylinder can be selected as multiple test points according to different types of ground. For the multiple test points corresponding to each ground type, the tensioning mechanism is used to perform corresponding tensioning operations and perform equipment endurance tests. Since the tensioning force of the tensioning mechanism at each test point is different, during the tensioning operation, the sustainable working time of the equipment under different tensioning force conditions is recorded to determine the most energy-saving tensioning force setting value for each working road surface, and then the obtained optimal tensioning force setting value is associated with the ground type in the controller 5 menu and stored.

[0087] In some embodiments, the step of controlling the tensioning mechanism to perform a tensioning action according to the current ground type includes:

[0088] Output tensioning working parameters adapted to the current ground type according to the current ground type;

[0089] Sending a tensioning work instruction to the tensioning mechanism according to the tensioning work parameters;

[0090] The tensioning mechanism is controlled to perform tensioning action according to the tensioning work instruction.

[0091] After selecting the ground type through the menu of controller 5, such as hard and flat road surface, gravel road surface, and muddy road surface, different types of ground will output different tensioning working parameters, such as the rotation direction and speed of motor 45, and control the tensioning mechanism to perform tensioning operations according to the output tensioning working parameters. During the tensioning operation, the controller 5 will compare the current tensioning force transmitted by the detected force sensor with the preset tensioning force value when it is powered on for the first time. If the current tensioning force is not in the optimal state, the operator will be prompted to adjust the tensioning force. After the operator confirms that the tensioning force can be adjusted, the controller 5 transmits the control parameters to the motor 45 driver according to the preset tensioning force setting value of the current road surface. The motor 45 driver controls the motor 45 to make the ball screw 451 move linearly to adjust the tensioning force of the track assembly 42.

[0092] In some embodiments, the driving control method further comprises the steps of:

[0093] When the current tensioning force does not reach the preset tensioning force, an abnormal alarm is issued;

[0094] After powering on again, the tensioning mechanism is controlled to reach the preset tensioning force.

[0095] When the current tensioning force obtained does not match the preset tensioning force, it means that the tensioning force of the tensioning mechanism has not yet reached the most energy-saving and optimal tensioning force adapted to the current type of ground, and an abnormal alarm is issued; after the abnormal alarm, the tensioning force will be adjusted when the power is turned on again until the tensioning force output by the tensioning mechanism is equal to the preset optimal tensioning force, the control is stopped, and monitoring is continued, so as to achieve the purpose of adjusting the tensioning force applied by the tensioning wheel 44 to the track assembly 42.

[0096] In some embodiments, the step of controlling the tensioning mechanism to reach a preset tensioning force after powering on again includes:

[0097] Obtaining the theoretical output torque required by the driving member according to the preset tensioning force;

[0098] Adjust the output torque of the driving member to the theoretical output torque;

[0099] The driving member is controlled to work according to the theoretical output torque to drive the tensioning wheel 44 to apply a preset tensioning force to the track assembly 42 .

[0100] The adjustable tensioning force range of the track assembly 42 in the current walking device 4 is 15kN to 23kN. According to the tensioning force range, the output torque and power range controlled by the motor 45 can be obtained. According to the power of the motor 45, the adjustment parameter range of the controller 5 corresponding to the output tensioning force of 15kN to 23kN can be obtained.

[0101] When adjusting the tensioning force of the tensioning mechanism, the required theoretical output torque of the motor 45 is calculated by the optimal preset tensioning force adapted to the current type of ground, and the input power of the motor 45 can be obtained according to the output torque of the motor 45. Then, the input power of the motor 45 is adjusted to the theoretical input power, and the motor 45 is controlled to rotate according to the current theoretical input power.

[0102] Specifically, the output torque of the motor 45 can be obtained by the following calculation formula:

[0103]

[0104] Among them, T is the output torque of the motor 45, F is the current tensioning force, L is the stroke of the ball screw 451, R is the transmission reduction ratio, and η is the transmission efficiency.

[0105] Furthermore, the input power calculation formula of the motor 45 is:

[0106]

[0107] In the above formula, P is the input power of the motor 45 , and n is the rotation speed of the motor 45 .

[0108] The third aspect of the present application provides a crawler-type aerial work machine, and the crawler-type aerial work machine includes the travel control system as described above. Among them, the crawler-type aerial work machine includes a working platform 1 and a scissor arm 2 arranged on a chassis 3, and the working platform 1 is located at the top of the scissor arm 2 and is used for the operator to work safely. The crawler-type aerial work machine equipped with the travel control system can maintain the most energy-saving working state on different working surfaces, avoids unnecessary power loss caused by incompatible tensioning force, and improves the endurance of the equipment. In addition, since the crawler-type aerial work machine adopts all the embodiments of the above-mentioned travel control system, it has all the beneficial effects brought by the above-mentioned travel control system, which will not be described in detail here.

[0109] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0110] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0111] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0112] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A travel control system for a crawler-type aerial work machine, characterized in that: The crawler-type aerial work machine comprises a chassis (3), and the travel control system is arranged on the chassis (3) and comprises: A walking device (4), comprising a tensioning mechanism, a crawler track assembly (42) and a walking wheel assembly, wherein the tensioning mechanism is supported on the inner peripheral wall of the crawler track assembly (42) by its own tensioning force, and the walking wheel assembly is used to drive the crawler track assembly (42) to move along the ground; A control module is electrically connected to the tensioning mechanism and is configured to: When the crawler-type aerial work machine is working, obtaining the current tensioning force of the tensioning mechanism in real time; comparing the current tensioning force with a preset tensioning force; When the current tensioning force reaches the preset tensioning force, the tensioning mechanism maintains the current tensioning force to perform the tensioning operation.

2. The driving control system according to claim 1, characterized in that: The tensioning mechanism comprises: Electric cylinder (49); A linear drive assembly is installed in the electric cylinder (49) and comprises a driving member and a linear motion member, wherein a first end of the linear motion member is linearly connected to the driving member and a second end extends out of the electric cylinder (49); Tensioner (44); A tensioning bracket (48) is mounted on the axial side end surface of the tensioning wheel (44), and the tensioning bracket (48) is connected to the second end of the linear motion member. The linear motion member is used to apply a driving force to the tensioning bracket (48) to drive the tensioning wheel (44) to apply a tensioning force to the inner circumferential wall of the track assembly (42).

3. The driving control system according to claim 2, characterized in that: The control module comprises: a force sensor installed inside the electric cylinder (49), the force sensor being used to detect the driving force applied by the second end of the linear motion member to the tensioning bracket (48); A controller (5) is electrically connected to the force sensor and the driving member, and the controller (5) is used to control the working parameters of the driving member according to the driving force signal sent by the force sensor.

4. The driving control system according to claim 2, characterized in that: The walking wheel assembly comprises: Walking support (46); A driving wheel (41) is mounted on the walking bracket (46), the outer peripheral wall of the driving wheel (41) is meshed with the inner peripheral wall of the crawler track assembly (42), the driving wheel (41) and the tensioning wheel (44) are arranged at intervals, and the driving wheel (41) and the tensioning wheel (44) cooperate to tension and support the inner peripheral wall of the crawler track assembly (42) along the length direction; A supporting roller (47) is installed on the walking frame (46). The supporting rollers (47) are multiple in number and arranged at intervals. The multiple supporting rollers (47) cooperate to support the crawler track assembly (42).

5. The driving control system according to claim 4, characterized in that: The travel control system further comprises a track roller (43) mounted on the travel bracket (46), wherein the track roller (43) abuts against the inner peripheral wall of the crawler track assembly (42).

6. A method for controlling the travel of a crawler-type aerial work machine, characterized in that: Applied to the driving control system according to any one of claims 1 to 5, the driving control method comprises the steps of: Preset the ground type and the preset tension force matching the ground type; Acquiring a current ground type and controlling the tensioning mechanism to perform a tensioning action according to the current ground type; When the crawler-type aerial work machine is working, the current tensioning force of the tensioning mechanism is obtained in real time; comparing the current tensioning force with the preset tensioning force; When the current tensioning force reaches the preset tensioning force, the tensioning mechanism maintains the current tensioning force to perform the tensioning operation.

7. The driving control method according to claim 6, characterized in that: The step of presetting a preset tension force matching the ground type comprises: Selecting a plurality of test points with different tension forces on the ground type; Recording the sustainable working time of the crawler-type aerial work machine under the current tension at each test point; The tensioning force that best matches the ground type is determined as the preset tensioning force according to the sustainable working time of each of the test points.

8. The driving control method according to claim 6, characterized in that: The step of controlling the tensioning mechanism to perform a tensioning action according to the current ground type comprises: Outputting tensioning working parameters adapted to the current ground type according to the current ground type; Sending a tensioning work instruction to the tensioning mechanism according to the tensioning work parameter; The tensioning mechanism is controlled to perform a tensioning action according to the tensioning work instruction.

9. The driving control method according to claim 6, characterized in that: The driving control method further comprises the steps of: When the current tensioning force does not reach the preset tensioning force, an abnormal alarm is issued; After powering on again, the tensioning mechanism is controlled to reach a preset tensioning force.

10. The driving control method according to claim 9, characterized in that: The step of controlling the tensioning mechanism to reach a preset tensioning force after powering on again comprises: Obtaining the theoretical output torque required by the driving member according to the preset tensioning force; adjusting the output torque of the driving member to a theoretical output torque; The driving member is controlled to work according to the theoretical output torque to drive the tensioning wheel (44) to apply the preset tensioning force to the track assembly (42).

11. A crawler-type aerial work machine, characterized in that: The crawler-type aerial work machine includes a travel control system according to any one of claims 1 to 5.

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