Auxiliary drive brake control system and method for a boom aerial work platform

Abstract

This invention discloses an auxiliary drive braking control system and method for a boom-type aerial work platform, including a hydraulic tank, a drive unit, a main control valve, a working hydraulic system, a travel control valve, a brake solenoid valve, a travel hydraulic motor, a travel drive system, and a system controller assembly. The travel control valve and the main control valve are connected in parallel via hydraulic lines to achieve combined linkage between the working hydraulic system and the travel hydraulic system. The system controller assembly includes a system controller and a sensor assembly. The system controller operates the travel control valve and the brake solenoid valve based on data information measured by the sensor assembly. The travel drive system includes a drive motor and a reducer. By adding a brake solenoid valve and control methods for related postures, this invention enables the auxiliary drive motor to have the same braking effect as a brake, ensuring the machine can stop normally on slopes without slipping, thus improving the overall travel braking performance of the machine.

Description

Technical Field

[0001] This invention relates to an auxiliary drive braking control system and method for boom-type aerial work platforms, belonging to the technical field of aerial work platforms. Background Technology

[0002] Braking technology for boom-type aerial work platforms on slopes primarily relies on hydraulic braking systems, mechanical braking systems, and electronic auxiliary braking systems. Hydraulic braking systems transmit braking force through hydraulic pumps and cylinders, featuring fast response and high braking force. Mechanical braking systems achieve braking through friction pads or brake discs, offering a simple structure and high reliability. Electronic auxiliary braking systems combine sensors and controllers to automatically adjust braking force based on the slope angle and platform load. These technologies, to a certain extent, meet the braking requirements of boom-type aerial work platforms on slopes.

[0003] The drive systems for aerial work platforms are relatively mature, with electro-hydraulic hybrid drive gaining popularity due to its unique technical approach and economic benefits. Its main technical characteristics are: when traveling at high and low speeds on flat ground, due to the low overall driving resistance, it typically uses a rear axle travel motor for two-wheel drive, while the front axle tire travel hydraulic motor does not provide driving force; however, when climbing slopes or when driving resistance increases, it switches to four-wheel drive, with both the travel hydraulic motor and the travel motor providing driving force. However, in existing technology, the hydraulic travel motor only provides driving force and lacks braking function, causing the entire machine's braking to rely entirely on the rear axle drive motor. This can lead to poor braking performance or the machine slipping on slopes under certain special conditions, posing safety hazards. Summary of the Invention

[0004] Purpose of the invention: To address the shortcomings of existing technologies, this invention provides an auxiliary drive braking control system and method for boom-type aerial work platforms. It solves the problem of no braking force on the hydraulic motor side of the boom-type aerial work platform in four-wheel drive mode. By adding a braking solenoid valve and related posture control methods, the auxiliary drive motor side has the same braking effect as the brake, ensuring that the whole machine can be parked normally on slopes without slipping, thus improving the overall machine's travel braking performance.

[0005] Technical solution: An auxiliary drive and braking control system for a boom-type aerial work platform, comprising a hydraulic oil tank, a drive unit, a hydraulic pump, a main control valve, a working hydraulic system, a travel control valve, a brake solenoid valve, a travel hydraulic motor, a travel drive system, and a system controller assembly;

[0006] The main control valve and the travel control valve are connected by hydraulic lines. The drive device drives the hydraulic pump to rotate and draw oil from the hydraulic oil tank. The hydraulic oil enters the oil inlet P of the main control valve and the oil inlet P of the travel control valve through the hydraulic hose. The LS port of the travel control valve and the LS port of the main control valve are connected by hydraulic lines.

[0007] The working hydraulic system controls and distributes hydraulic fluid through a main control valve.

[0008] The travel hydraulic motor includes a right motor and a left motor that are respectively connected to the right tire and the left tire of the front axle assembly of the whole machine; the brake solenoid valve includes a first brake solenoid valve and a second brake solenoid valve arranged in the oil line between the oil ports A and B on both sides of the right motor and the travel control valve; it also includes a third brake solenoid valve and a fourth brake solenoid valve arranged in the oil line between the oil ports A and B on both sides of the left motor and the travel control valve.

[0009] The oil ports FRA, FRB, FLA and FLB of the travel control valve are connected to the first brake solenoid valve, the second brake solenoid valve, the third brake solenoid valve and the fourth brake solenoid valve through hydraulic lines, respectively.

[0010] The system controller assembly includes a system controller and a sensor assembly. The system controller controls the brake solenoid valve and the walking system based on the data information measured by the sensor assembly.

[0011] This invention utilizes a brake solenoid valve and a sensor assembly. The vehicle's current posture is determined by the vehicle posture data fed back from the sensor assembly, and the system controller provides corresponding control according to a preset program. This ensures that the travel hydraulic motor side has the same braking effect as the brake, guaranteeing the machine can stop normally on slopes without slipping, thus improving the overall travel braking performance. Through the intervention of the brake solenoid valve, the travel hydraulic motor can decelerate rapidly upon stopping, reducing mechanical shock and wear caused by inertia and extending the service life of the travel hydraulic motor. Simultaneously, the brake solenoid valve can quickly respond to control signals, achieving instant braking of the travel hydraulic motor, improving the system's dynamic response performance, and is suitable for operating conditions requiring rapid braking. Furthermore, it effectively prevents the travel hydraulic motor from continuing to idle after oil supply is stopped, reducing unnecessary energy loss, thereby lowering the overall energy consumption of the system and improving energy utilization efficiency.

[0012] The travel control valve includes a three-position four-way solenoid directional valve and a flow divider / combiner valve. The three-position four-way solenoid directional valve is equipped with electromagnets Y1 and Y2 controlled by the system controller. The oil inlet of the three-position four-way solenoid directional valve is connected to the oil inlet P of the main control valve and the oil outlet of the hydraulic pump. The three-position four-way solenoid directional valve has two oil outlets. One oil outlet is connected to the two oil ports FRB and FLA of the travel control valve, and the other oil outlet is connected to the oil inlet of the flow divider / combiner valve.

[0013] A shuttle valve is provided between the hydraulic lines connecting the two oil outlets of the three-position four-way solenoid directional valve. The oil outlet of the shuttle valve is connected to the load-sensitive oil port LS of the travel control valve through a hydraulic line, and a first check valve is provided on the line, with its oil inlet connected to the oil outlet of the shuttle valve.

[0014] It also includes a second check valve, a third check valve, and a fourth check valve whose oil inlet is connected to the oil return port T of the travel control valve via a hydraulic pipeline. The second check valve and the third check valve are respectively installed on the hydraulic pipeline between the two oil outlets of the flow divider and combiner valve and the oil return port T of the travel control valve. The fourth check valve is installed on the hydraulic pipeline between the hydraulic pipeline connecting the three-position four-way solenoid directional valve and the oil ports FRB and FLA and the oil return port T of the travel control valve.

[0015] A throttle valve is installed between the two oil outlets of the flow divider / combiner valve, with both ends connected to the oil outlet pipeline of the flow divider / combiner valve.

[0016] The three-position four-way solenoid directional valve is used to control the power output direction of the vehicle forward or backward. At the same time, it can realize the reverse thrust of the walking hydraulic motor when driving on a slope to decelerate the vehicle. The flow divider and combiner valve can balance the oil intake at both ends, distribute the power evenly, and stabilize the driving and braking states.

[0017] Any of the aforementioned brake solenoid valves includes a two-position two-way bidirectional shut-off valve, wherein an electromagnet Y3 controlled by a system controller is provided on the two-position two-way bidirectional shut-off valve, and a filter screen is provided between the two-position two-way bidirectional shut-off valve and the oil inlet of the brake solenoid valve.

[0018] The filter screen can filter impurities in the hydraulic oil that enters the brake solenoid valve, reducing the failure rate of the brake solenoid valve and improving the overall working stability of the machine.

[0019] The two-position two-way bidirectional shut-off valve is equipped with a valve core displacement sensor, which is connected to the system controller via a signal harness.

[0020] As a better option, using a brake solenoid valve with a valve core displacement sensor can more accurately determine whether the brake solenoid valve is operating correctly. If the valve core of the brake solenoid valve does not operate according to the command, it proves that the brake solenoid valve is faulty and can remind the operator to perform timely maintenance.

[0021] The first, second, third, and fourth brake solenoid valves are respectively equipped with a first relief valve, a second relief valve, a third relief valve, and a fourth relief valve on the hydraulic lines connecting the first brake solenoid valve, the second brake solenoid valve, the third brake solenoid valve, and the fourth relief valve. The return ports of the first, second, third, and fourth relief valves are connected to the hydraulic oil tank.

[0022] To protect the safety of the hydraulic system and reduce damage caused by increased oil pressure due to failure of some hydraulic components, a relief valve is installed on the hydraulic line connected to the travel hydraulic motor to protect the oil line when the travel hydraulic motor performs deceleration or parking actions.

[0023] The main control valve includes a multi-port valve for providing hydraulic fluid distribution to the working hydraulic system;

[0024] It also includes a load-sensitive valve installed between the oil inlet and outlet lines of the main control valve. The load-sensitive valve is connected to the load-sensitive port LS of the main control valve. The load-sensitive port LS of the main control valve is connected to the load-sensitive port of the travel control valve through a hydraulic line. A fifth relief valve is also installed between the oil inlet and outlet lines of the main control valve.

[0025] A method for auxiliary drive braking control of a boom-type aerial work platform includes a travel drive system and a sensor assembly mounted on the turntable of the machine.

[0026] The sensor assembly includes a tilt sensor and a travel detection switch, and the tilt sensor is connected to the system controller via a signal harness.

[0027] The walking drive system includes two walking motors that are poweredly connected to the left and right tires of the rear axle of the machine via a walking reducer, and also includes a walking control system for controlling the walking motors.

[0028] The walking control system includes a walking control handle, an enable switch, and a walking mode switching switch. When the walking mode switching switch is switched to the four-wheel climbing gear drive mode, the enable switch is triggered and the walking control handle is operated at the same time. At this time, the system controller controls the drive device to rotate at the set speed, and the hydraulic pump oil supplies oil to the walking motor through the walking control valve and the brake solenoid valve.

[0029] The driving mode switch includes a flat ground mode and an uphill mode;

[0030] The specific control method includes the following steps:

[0031] Step 1: With the whole machine travel mode switch in the flat ground position, the vehicle travels on a flat road. Press the enable switch to operate the travel control handle to control the whole machine to move forward or backward. The brake solenoid valve is energized, and the travel hydraulic motor enters and exits the oil circuit through the travel control valve to achieve oil circuit connection.

[0032] When the machine stops moving, the travel motor generates braking torque. When the travel control handle is fully returned to the neutral position, the electromagnet Y3 on the brake solenoid valve is de-energized, and the travel hydraulic motor oil circuit is disconnected, thus forming hydrostatic braking.

[0033] Step 2: When the whole machine travel mode switch is in the flat ground position and the vehicle is traveling on a slope, the vehicle position is detected by the turntable position travel detection switch and tilt sensor set on the whole machine chassis. The system controller controls the hydraulic pump to supply oil to the travel control valve in the opposite direction of the travel hydraulic motor rotation, so that the travel hydraulic motor generates travel resistance.

[0034] Step 3: With the machine's travel mode switch in the climbing gear and the vehicle traveling on a flat road, press the enable switch and operate the travel control handle to control the machine to move forward or backward. At this time, the brake solenoid valve is energized and the travel control valve is energized. The driving force of the machine is provided by the travel motor and the travel hydraulic motor.

[0035] When the machine starts to travel, the system controller controls the hydraulic pump to supply oil to the travel control valve to the travel hydraulic motor along the direction of wheel travel. When the machine stops traveling, the travel motor generates braking torque. When the travel control handle is fully returned to the neutral position, the electromagnet Y3 of the travel control valve and the brake solenoid valve is de-energized, and the oil circuit of the travel hydraulic motor is disconnected, thus forming hydrostatic braking.

[0036] Step 4: When the whole machine travel mode switch is in the climbing gear and the vehicle is traveling on a slope, the vehicle's position and posture are detected by the turntable position travel detection switch and tilt sensor set on the whole machine chassis. The system controller controls the hydraulic pump to supply oil to the travel control valve in the opposite direction of the travel hydraulic motor rotation, so that the travel hydraulic motor generates travel resistance.

[0037] Step 2 specifically involves:

[0038] Step 2.1: Check whether the counterweight of the machine and the front axle of the vehicle are in the same direction according to the travel detection switch of the turntable position set on the chassis of the machine;

[0039] Step 2.2: When the machine's counterweight and the vehicle's front axle are in the same direction, define the tilt angle between the machine and the ground as... If the entire machine is tilted at an angle of α ( The machine begins to descend the slope. At this time, the solenoid Y1 of the three-position four-way solenoid directional valve is de-energized and the solenoid Y2 is energized. The system controller controls the hydraulic pump to supply oil to the travel control valve in the opposite direction of the travel hydraulic motor rotation. The travel hydraulic motor generates travel resistance, thereby ensuring the machine's speed is stable during the descent and preventing slippage.

[0040] Step 2.3: When the machine's counterweight and the vehicle's front axle are in different directions, define the tilt angle between the machine and the ground as... If the entire machine is tilted at an angle of -α ( As the machine begins its descent down the slope, the electromagnet Y1 of the three-position four-way solenoid directional valve is de-energized, while the electromagnet Y2 is energized. The system controller then controls the hydraulic pump to supply oil to the travel control valve in the opposite direction of the travel hydraulic motor's rotation. This generates travel resistance, ensuring stable speed during the descent and preventing the machine from slipping.

[0041] Step 4 specifically involves:

[0042] Step 4.1: When the machine's counterweight and the vehicle's front axle are in the same direction, define the tilt angle between the machine and the ground as... If the entire machine is tilted at an angle of α ( The machine begins to descend the slope. At this time, the solenoid Y1 of the three-position four-way solenoid directional valve is de-energized and the solenoid Y2 is energized. The system controller controls the hydraulic pump to supply oil to the travel control valve in the opposite direction of the travel hydraulic motor rotation. The travel hydraulic motor generates travel resistance, thereby ensuring the machine's speed is stable during the descent and preventing slippage.

[0043] Step 4.2: When the machine's counterweight and the vehicle's front axle are in the same direction, define the tilt angle between the machine and the ground as... If the entire machine is tilted at an angle of β ( The machine starts to descend from the slope. When the machine starts to move, the brake solenoid valve is energized and the travel control valve is de-energized. The valve core returns to the neutral position, so that the oil in and out of the travel hydraulic motor is connected in the travel control valve, and the travel hydraulic motor does not provide driving force.

[0044] When the machine stops moving, the travel motor generates braking torque. When the travel control handle is fully returned to the neutral position, the electromagnet Y3 of the brake solenoid valve is de-energized, and the oil circuit of the travel hydraulic motor is disconnected, thus forming hydrostatic braking.

[0045] Step 4.3: When the machine's counterweight and the vehicle's front axle are in different directions, define the tilt angle between the machine and the ground as... If the entire machine is tilted at an angle of -α ( The machine begins to descend the slope. At this time, the solenoid Y1 of the three-position four-way solenoid directional valve is de-energized and the solenoid Y2 is energized. The system controller controls the hydraulic pump to supply oil to the travel control valve in the opposite direction of the travel hydraulic motor rotation. The travel hydraulic motor generates travel resistance, thereby ensuring the machine's speed is stable during the descent and preventing slippage.

[0046] Step 4.4: When the machine's counterweight and the vehicle's front axle are in different directions, the tilt angle between the machine and the ground is defined as... If the entire machine is tilted at an angle of -β ( The machine starts to descend from the slope. When the machine starts to move, the brake solenoid valve is energized and the travel control valve is de-energized. The valve core returns to the neutral position, so that the oil in and out of the travel hydraulic motor is connected in the travel control valve, and the hydraulic travel motor does not provide driving force.

[0047] When the machine stops moving, the travel motor generates braking torque. When the travel control handle is fully returned to the neutral position, the electromagnet Y3 of the braking solenoid is de-energized, and the oil circuit of the travel hydraulic motor is disconnected, thus forming hydrostatic braking.

[0048] Beneficial Effects: This invention, by incorporating a brake solenoid valve and a sensor assembly, determines the current vehicle posture based on vehicle posture data fed back from the sensor assembly. The system controller then provides corresponding control according to a preset program, ensuring that the travel hydraulic motor side has the same braking effect as the brake, guaranteeing that the entire machine can stop normally on slopes without slipping, thus improving the overall travel braking performance. Through the intervention of the brake solenoid valve, the travel hydraulic motor can rapidly decelerate upon stopping, reducing mechanical impact and wear caused by inertia and extending the service life of the travel hydraulic motor. Simultaneously, the brake solenoid valve can quickly respond to control signals, achieving instant braking of the travel hydraulic motor, improving the system's dynamic response performance, and is suitable for operating conditions requiring rapid braking. Furthermore, it effectively prevents the travel hydraulic motor from continuing to idle after oil supply is stopped, reducing unnecessary energy loss, thereby lowering the overall energy consumption of the system and improving energy utilization efficiency. Attached Figure Description

[0049] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0050] Figure 1 This is a schematic diagram of the hydraulic principle of the present invention.

[0051] Figure 2 This is a partial hydraulic principle diagram of the present invention.

[0052] Figure 3 This invention relates to a braking solenoid valve.

[0053] Figure 4 This invention relates to a brake solenoid valve with a valve core displacement sensor.

[0054] Figure 5 This is a diagram of the drive structure and tilt sensor installation structure of the present invention. The travel detection switch is integrated with the upper structure of the vehicle slewing platform and slides on the slewing platform to detect the rotation travel. This is omitted in the figure.

[0055] Figure 6 This is a communication schematic diagram of the sensor assembly and walking control system of the present invention.

[0056] Figure 7This is a logic diagram of the control method of the present invention.

[0057] Figure 8 This is a diagram showing the vehicle's downhill state with an inclination angle of θ when the vehicle's counterweight and front axle are in the same direction.

[0058] Figure 9 This diagram illustrates the vehicle's downhill state with an inclination angle of -θ when the vehicle's counterweight and front axle are not in the same direction.

[0059] Figure 10 This is a diagram showing the vehicle's downhill state with an angle of γ when the vehicle's counterweight and front axle are in the same direction.

[0060] Figure 11 This diagram illustrates the vehicle's downhill state with an inclination angle of -γ when the vehicle's counterweight and front axle are not in the same direction. Detailed Implementation

[0061] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0062] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0063] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0064] like Figures 1 to 4As shown, an auxiliary drive and braking control system for a boom-type aerial work platform includes a hydraulic oil tank 1, a drive unit 2, a hydraulic pump 3, a main control valve 4, a working hydraulic system 5, a travel control valve 6, a brake solenoid valve 7, a travel hydraulic motor 8, a travel drive system 9, and a system controller assembly 10.

[0065] The main control valve 4 and the travel control valve 6 are connected by a hydraulic pipeline. The drive device 2 drives the hydraulic pump 3 to rotate and draw oil from the hydraulic oil tank 1. The hydraulic oil enters the oil inlet P of the main control valve 4 and the oil inlet P of the travel control valve 6 through the hydraulic hose. The LS port of the travel control valve 6 and the LS port of the main control valve 4 are connected by a hydraulic pipeline.

[0066] The working hydraulic system 5 controls and distributes hydraulic oil through the main control valve 4.

[0067] The travel hydraulic motor 8 includes a right motor and a left motor that are respectively connected to the right tire and the left tire of the front axle assembly of the whole machine; the brake solenoid valve 7 includes a first brake solenoid valve 71 and a second brake solenoid valve 72 disposed on the oil line between the oil ports A and B on both sides of the right motor and the travel control valve 6; it also includes a third brake solenoid valve 73 and a fourth brake solenoid valve 74 disposed on the oil line between the oil ports A and B on both sides of the left motor and the travel control valve 6.

[0068] The oil ports FRA, FRB, FLA and FLB of the travel control valve 6 are connected to the first brake solenoid valve 71, the second brake solenoid valve 72, the third brake solenoid valve 73 and the fourth brake solenoid valve 74 through hydraulic lines, respectively.

[0069] The system controller assembly 10 includes a system controller 101 and a sensor assembly 102. The system controller 101 controls the brake solenoid valve 7 and the walking system based on the data information measured by the sensor assembly 102.

[0070] This invention utilizes a brake solenoid valve 7 and a sensor assembly 102. The vehicle's current posture is determined by the vehicle posture data fed back by the sensor assembly 102. The system controller 101 provides corresponding control according to a preset program, ensuring that the travel hydraulic motor 8 has the same braking effect as the brake, guaranteeing that the machine can stop normally on slopes without slipping, thus improving the overall travel braking performance. Through the intervention of the brake solenoid valve 7, the travel hydraulic motor 8 can decelerate rapidly upon stopping, reducing mechanical impact and wear caused by inertia and extending the service life of the travel hydraulic motor 8. Simultaneously, the brake solenoid valve 7 can quickly respond to control signals, achieving instant braking of the travel hydraulic motor 8, improving the system's dynamic response performance, and making it suitable for operating conditions requiring rapid braking.

[0071] The travel control valve 6 includes a three-position four-way solenoid directional valve 61 and a flow divider / combiner valve 62. The three-position four-way solenoid directional valve 61 is equipped with electromagnets Y1 and Y2 controlled by the system controller 101. The oil inlet of the three-position four-way solenoid directional valve 61 is connected to the oil inlet P of the main control valve 4 and the oil outlet of the hydraulic pump 3. The three-position four-way solenoid directional valve 61 has two oil outlets. One oil outlet is connected to the two oil ports FRB and FLA of the travel control valve 6, and the other oil outlet is connected to the oil inlet of the flow divider / combiner valve 62.

[0072] A shuttle valve 63 is provided between the hydraulic lines connecting the two oil outlets of the three-position four-way solenoid directional valve 61. The oil outlet of the shuttle valve 63 is connected to the load-sensitive oil port LS of the travel control valve 6 through a hydraulic line, and a first check valve 64 is provided on the line, with its oil inlet connected to the oil outlet of the shuttle valve 63.

[0073] It also includes a second check valve 65, a third check valve 66, and a fourth check valve 67, which are connected to the oil inlet and the return oil port T of the travel control valve 6 via hydraulic lines. The second check valve 65 and the third check valve 66 are respectively installed on the hydraulic lines between the two oil outlets of the flow divider / combiner valve 62 and the return oil port T of the travel control valve 6. The fourth check valve 67 is installed on the hydraulic line between the three-position four-way solenoid directional valve 61 and the oil ports FRB and FLA and the return oil port T of the travel control valve 6.

[0074] A throttle valve 68 is provided between the two oil outlets of the diversion and combination valve 62, with both ends connected to the oil outlet pipeline of the diversion and combination valve 62.

[0075] The three-position four-way solenoid directional valve 61 is used to control the power output direction of the vehicle moving forward or backward. At the same time, it can realize the reverse thrust of the walking hydraulic motor 8 when driving on a slope, so as to decelerate the vehicle. The flow divider and combiner valve 62 can make the oil intake at both ends equal, the power distribution uniform, and the driving and braking states stable. The throttle valve 68 is used to control the stability of the oil flow in the hydraulic pipeline.

[0076] Each of the aforementioned brake solenoid valves 7 includes a two-position two-way bidirectional shut-off valve 75, on which an electromagnet Y3 controlled by a system controller 101 is provided, and a filter screen 76 is provided between the two-position two-way bidirectional shut-off valve 75 and the oil inlet of the brake solenoid valve 7.

[0077] The filter screen 76 can filter impurities in the hydraulic oil that enters the brake solenoid valve 7, reduce the failure rate of the brake solenoid valve 7, and improve the overall working stability of the machine.

[0078] The two-position two-way bidirectional shut-off valve 75 is equipped with a valve core displacement sensor 77, which is connected to the system controller 101 via a signal harness.

[0079] As a better option, using a brake solenoid valve 7 with a valve core displacement sensor 77 can more accurately determine whether the brake solenoid valve 7 is operating properly. If the valve core of the brake solenoid valve 7 does not operate according to the instruction, it proves that the brake solenoid valve 7 is faulty and can remind the operator to repair it in time.

[0080] The first brake solenoid valve 71, the second brake solenoid valve 72, the third brake solenoid valve 73 and the fourth brake solenoid valve 74 are respectively provided with a first relief valve 11, a second relief valve 12, a third relief valve 13 and a fourth relief valve 14 on the hydraulic pipelines connected to the left motor and the right motor. The oil return ports of the first relief valve 11, the second relief valve 12, the third relief valve 13 and the fourth relief valve 14 are connected to the hydraulic oil tank 1.

[0081] To protect the safety of the hydraulic system and reduce damage caused by increased oil pressure due to failure of some hydraulic components, an overflow valve is installed on the hydraulic pipeline connected to the travel hydraulic motor 8 to protect the oil circuit when the travel hydraulic motor 8 performs deceleration or parking actions.

[0082] The main control valve 4 includes a multi-port valve for distributing hydraulic oil to the working hydraulic system 5; it also includes a load-sensitive valve 41 disposed between the inlet and outlet lines of the main control valve 4, the load-sensitive valve 41 being connected to the load-sensitive port LS of the main control valve 4, and the load-sensitive port LS of the main control valve 4 being connected to the load-sensitive port of the travel control valve 6 via a hydraulic line; a fifth relief valve 42 is also disposed between the inlet and outlet lines of the main control valve 4.

[0083] A method for auxiliary drive braking control of a boom-type aerial work platform includes a travel drive system 9 and a sensor assembly 102 mounted on the turntable of the machine.

[0084] The sensor assembly 102 includes a tilt sensor 1021 and a travel detection switch 1022, and the tilt sensor 1021 and the travel detection switch 1022 are connected to the system controller 101 via a signal harness.

[0085] The walking drive system 9 includes two walking motors 92 that are poweredly connected to the left and right tires of the rear axle of the machine via a walking reducer 91, and also includes a walking control system 93 for controlling the walking motors 92.

[0086] The walking control system 93 includes a walking control handle 931, an enable switch 932, and a walking mode switching switch 933. When the walking mode switching switch 933 is switched to the four-wheel climbing gear drive mode, the enable switch 932 is triggered and the walking control handle 931 is operated simultaneously. At this time, the system controller 101 controls the drive device 2 to rotate at a set speed, and the hydraulic pump 3 supplies oil to the walking motor through the walking control valve 6 and the brake solenoid valve 7.

[0087] The 933 driving mode switch includes a flat ground mode and an uphill mode; Example

[0088] The specific control method includes the following steps:

[0089] Step 1: With the whole machine travel mode switch 933 in the flat ground position and the vehicle traveling on a flat road, press the enable switch 932 to operate the travel control handle 931 to control the whole machine to move forward or backward. The brake solenoid valve 7 is energized, and the travel hydraulic motor 8 enters and exits the oil circuit through the travel control valve 6 to achieve oil circuit connection.

[0090] When the machine stops moving, the travel motor 92 generates braking torque. When the travel control handle 931 returns to the neutral position, the electromagnet Y3 on the brake solenoid valve 7 is de-energized, and the oil circuit of the travel hydraulic motor 8 is disconnected, thus forming hydrostatic braking.

[0091] Step 2: When the whole machine travel mode switching switch 933 is in the flat ground position and the vehicle is traveling on a slope, the vehicle position is detected by the turntable position travel detection switch 1022 and the tilt sensor 1021 set on the whole machine chassis. The system controller 101 controls the hydraulic pump 3 to supply oil to the travel control valve 6 in the opposite direction of the rotation of the travel hydraulic motor 8, so that the travel hydraulic motor 8 generates travel resistance.

[0092] Step 3: When the whole machine travel mode switch 933 is in the climbing gear and the vehicle is traveling on a flat road, press the enable switch 932 to operate the travel control handle 931 to control the whole machine to move forward or backward. At this time, the brake solenoid valve 7 is energized and the travel control valve 6 is energized. At this time, the whole machine driving force is jointly provided by the travel motor 92 and the travel hydraulic motor 8.

[0093] When the machine starts to travel, the system controller 101 controls the hydraulic pump 3 to supply oil to the travel control valve 6 to the travel hydraulic motor 8 along the direction of wheel travel. When the machine stops traveling, the travel motor 92 generates braking torque. When the travel control handle 931 returns to the neutral position, the electromagnet Y3 of the travel control valve 6 and the brake solenoid valve 7 is de-energized, and the oil circuit of the travel hydraulic motor 8 is disconnected, thereby forming hydrostatic braking.

[0094] Step 4: When the whole machine travel mode switching switch 933 is in the climbing gear and the vehicle is traveling on the slope, the vehicle position is detected by the turntable position travel detection switch 1022 and the tilt sensor 1021 set on the whole machine chassis. The system controller 101 controls the hydraulic pump 3 to supply oil to the travel control valve 6 in the opposite direction of the rotation of the travel hydraulic motor 8, so that the travel hydraulic motor 8 generates travel resistance.

[0095] Step 2 specifically involves:

[0096] Step 2.1: Detect whether the counterweight of the machine and the front axle of the vehicle are in the same direction according to the turntable position travel detection switch 1022 set on the chassis of the machine;

[0097] Step 2.2: When the machine's counterweight and the vehicle's front axle are in the same direction, define the tilt angle between the machine and the ground as... If the entire machine is tilted at an angle of α ( As the machine begins its descent from the slope, electromagnet Y1 of the three-position four-way solenoid directional valve 61 is de-energized, while electromagnet Y2 is energized. The system controller 101 then controls the hydraulic pump 3 to supply oil to the travel control valve 6 in the opposite direction to the rotation of the travel hydraulic motor 8. The travel hydraulic motor 8 generates travel resistance, thus ensuring stable speed during the descent and preventing slippage. Figure 8 As shown;

[0098] Step 2.3: When the machine's counterweight and the vehicle's front axle are in different directions, define the tilt angle between the machine and the ground as... If the entire machine is tilted at an angle of -α ( As the machine begins its descent from the slope, electromagnet Y1 of the three-position four-way solenoid directional valve 61 is de-energized, while electromagnet Y2 is energized. The system controller 101 then controls the hydraulic pump 3 to supply oil to the travel control valve 6 in the opposite direction to the rotation of the travel hydraulic motor 8. The travel hydraulic motor 8 generates travel resistance, thus ensuring stable speed during the descent and preventing slippage. Figure 9 As shown;

[0099] Step 4 specifically involves:

[0100] Step 4.1: When the machine's counterweight and the vehicle's front axle are in the same direction, define the tilt angle between the machine and the ground as... If the entire machine is tilted at an angle of α ( The machine begins to descend the slope. At this time, the electromagnet Y1 of the three-position four-way solenoid directional valve 61 is de-energized and the electromagnet Y2 is energized. The system controller 101 controls the hydraulic pump 3 to supply oil to the travel control valve 6 in the opposite direction of the rotation of the travel hydraulic motor 8. The travel hydraulic motor 8 generates travel resistance, thereby ensuring the stability of the speed of the whole machine during the descent and preventing slippage.

[0101] Step 4.2: When the counterweight of the machine and the front axle of the vehicle are in the same direction, the tilt angle between the machine and the ground is defined as... If the entire machine is tilted at an angle of β ( As the machine begins its descent down the slope, the brake solenoid valve 7 is energized, the travel control valve 6 is de-energized, and the valve core returns to the neutral position. This allows the travel hydraulic motor 8 to exchange oil in the travel control valve 6, thus establishing an oil circuit connection. The travel hydraulic motor 8 does not provide driving force. Figure 10 As shown;

[0102] When the machine stops moving, the travel motor 92 generates braking torque. When the travel control handle 931 returns to the neutral position, the electromagnet Y3 of the brake solenoid valve 7 is de-energized, and the oil circuit of the travel hydraulic motor 8 is disconnected, thus forming hydrostatic braking.

[0103] Step 4.3: When the machine's counterweight and the vehicle's front axle are in different directions, define the tilt angle between the machine and the ground as... If the entire machine is tilted at an angle of -α ( As the machine begins its descent from the slope, electromagnet Y1 of the three-position four-way solenoid directional valve 61 is de-energized, while electromagnet Y2 is energized. The system controller 101 then controls the hydraulic pump 3 to supply oil to the travel control valve 6 in the opposite direction to the rotation of the travel hydraulic motor 8. The travel hydraulic motor 8 generates travel resistance, thus ensuring stable speed during the descent and preventing slippage. Figure 11 As shown;

[0104] Step 4.4: When the machine's counterweight and the vehicle's front axle are in different directions, the tilt angle between the machine and the ground is defined as... If the entire machine is tilted at an angle of -β ( When the machine starts to move downhill, the brake solenoid valve 7 is energized and the travel control valve 6 is de-energized. The valve core returns to the neutral position, so that the travel hydraulic motor 8 enters and exits oil in the travel control valve 6, realizing the oil circuit connection. The hydraulic travel motor does not provide driving force.

[0105] When the machine stops moving, the travel motor 92 generates braking torque. When the travel control handle 931 returns to the neutral position, the electromagnet Y3 of the braking solenoid is de-energized, and the oil circuit of the travel hydraulic motor 8 is disconnected, thus forming hydrostatic braking.

[0106] Example 2

[0107] The brake solenoid valve 7 includes a valve core displacement sensor, which adds an extra layer of control logic. When the valve core movement detected by the valve core displacement sensor matches the judgment logic, the machine starts to move. Otherwise, the system controller 101 displays a fault code, and the machine is restricted from moving.

[0108] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0109] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not 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.

[0110] The brake solenoid valve 7 includes a valve core displacement sensor, which adds an extra layer of control logic. When the valve core movement detected by the valve core displacement sensor matches the judgment logic, the machine starts to move. Otherwise, the system controller 101 displays a fault code, and the machine is restricted from moving.

[0111] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0112] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not 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.

Claims

1. An auxiliary drive and braking control system for a boom-type aerial work platform, characterized in that: It includes a hydraulic oil tank (1), a drive unit (2), a hydraulic pump (3), a main control valve (4), a working hydraulic system (5), a travel control valve (6), a brake solenoid valve (7), a travel hydraulic motor (8), a travel drive system (9), and a system controller assembly (10). The main control valve (4) and the travel control valve (6) are connected by a hydraulic pipeline. The drive device (2) drives the hydraulic pump (3) to rotate and take oil from the hydraulic oil tank (1). The hydraulic oil enters the oil inlet P of the main control valve (4) and the oil inlet P of the travel control valve (6) through the hydraulic hose. The LS port of the travel control valve (6) and the LS port of the main control valve (4) are connected by a hydraulic pipeline. The working hydraulic system (5) controls and distributes hydraulic oil through the main control valve (4); The travel hydraulic motor (8) includes a right motor and a left motor that are respectively connected to the right tire and the left tire of the front axle assembly of the whole machine; the brake solenoid valve (7) includes a first brake solenoid valve (71) and a second brake solenoid valve (72) arranged on the oil lines between the oil ports A and B on both sides of the right motor and the travel control valve (6); it also includes a third brake solenoid valve (73) and a fourth brake solenoid valve (74) arranged on the oil lines between the oil ports A and B on both sides of the left motor and the travel control valve (6). The oil ports FRA, FRB, FLA and FLB of the travel control valve (6) are connected to the first brake solenoid valve (71), the second brake solenoid valve (72), the third brake solenoid valve (73) and the fourth brake solenoid valve (74) through hydraulic lines, respectively. The system controller assembly (10) includes a system controller (101) and a sensor assembly (102). The system controller (101) controls the brake solenoid valve (7) and the walking system based on the data information measured by the sensor assembly (102).

2. The auxiliary drive and braking control system for boom-type aerial work platforms according to claim 1, characterized in that: The travel control valve (6) includes a three-position four-way solenoid directional valve (61) and a flow divider / combiner valve (62). The three-position four-way solenoid directional valve (61) is equipped with electromagnets Y1 and Y2 controlled by the system controller (101). The oil inlet of the three-position four-way solenoid directional valve (61) is connected to the oil inlet P of the main control valve (4) and the oil outlet of the hydraulic pump (3). The three-position four-way solenoid directional valve (61) has two oil outlets. One oil outlet is connected to the two oil ports FRB and FLA of the travel control valve (6), and the other oil outlet is connected to the oil inlet of the flow divider / combiner valve (62). A shuttle valve (63) is provided between the hydraulic lines connecting the two oil outlets of the three-position four-way solenoid directional valve (61). The oil outlet of the shuttle valve (63) is connected to the load-sensitive oil port LS of the travel control valve (6) through the hydraulic line, and a first check valve (64) is provided on the line, with the oil inlet connected to the oil outlet of the shuttle valve (63). It also includes a second check valve (65), a third check valve (66), and a fourth check valve (67) whose oil inlet is connected to the oil return port T of the travel control valve (6) through a hydraulic pipeline. The second check valve (65) and the third check valve (66) are respectively installed on the hydraulic pipeline between the two oil outlets of the flow divider valve (62) and the oil return port T of the travel control valve (6). The fourth check valve (67) is installed on the hydraulic pipeline between the three-position four-way solenoid directional valve (61) and the oil ports FRB and FLA and the oil return port T of the travel control valve (6). A throttle valve (68) is provided between the two oil outlets of the diversion and combination valve (62), with both ends connected to the oil outlet pipeline of the diversion and combination valve (62).

3. The auxiliary drive and braking control system for boom-type aerial work platforms according to claim 2, characterized in that: Each of the aforementioned brake solenoid valves (7) includes a two-position two-way bidirectional shut-off valve (75), on which an electromagnet Y3 controlled by a system controller (101) is provided, and a filter screen (76) is provided between the two-position two-way bidirectional shut-off valve (75) and the oil inlet of the brake solenoid valve (7).

4. The auxiliary drive and braking control system for the boom-type aerial work platform according to claim 3, characterized in that: The two-position two-way bidirectional shut-off valve (75) is equipped with a valve core displacement sensor (77), which is connected to the system controller (101) via a signal harness.

5. The auxiliary drive and braking control system for the boom-type aerial work platform according to claim 4, characterized in that: The first brake solenoid valve (71), the second brake solenoid valve (72), the third brake solenoid valve (73) and the fourth brake solenoid valve (74) are respectively provided with a first relief valve (11), a second relief valve (12), a third relief valve (13) and a fourth relief valve (14) on the hydraulic pipelines connected to the left motor and the right motor. The return ports of the first relief valve (11), the second relief valve (12), the third relief valve (13) and the fourth relief valve (14) are connected to the hydraulic oil tank (1).

6. The auxiliary drive and braking control system for boom-type aerial work platforms according to claim 5, characterized in that: The main control valve (4) includes a multi-port valve for distributing hydraulic oil to the working hydraulic system (5); it also includes a load-sensitive valve (41) disposed between the inlet and outlet lines of the main control valve (4), the load-sensitive valve (41) being connected to the load-sensitive port LS of the main control valve (4), the load-sensitive port LS of the main control valve (4) being connected to the load-sensitive port of the travel control valve (6) through a hydraulic line; a fifth relief valve (42) is also provided between the inlet and outlet lines of the main control valve (4).

7. A method for auxiliary drive braking control of a boom-type aerial work platform, characterized in that: Includes a walking drive system (9) and a sensor assembly (102) mounted on the turntable of the machine. The sensor assembly (102) includes a tilt sensor (1021) and a travel detection switch (1022), which are connected to the system controller (101) via a signal harness. The walking drive system (9) includes two walking motors (92) that are poweredly connected to the left and right tires of the rear axle of the machine via a walking reducer (91), and also includes a walking control system (93) for controlling the walking motors (92). The walking control system (93) includes a walking control handle (931), an enable switch (932), and a walking mode switching switch (933). When the walking mode switching switch (933) is switched to the four-wheel climbing gear drive mode, the enable switch (932) is triggered and the walking control handle (931) is operated at the same time. At this time, the system controller (101) controls the drive device (2) to rotate according to the set speed, and the hydraulic pump (3) supplies oil to the walking motor through the walking control valve (6) and the brake solenoid valve (7). The driving mode switch (933) includes a flat ground mode and a hill climbing mode; The specific control method includes the following steps: Step 1: When the whole machine travel mode switch (933) is in the flat ground position, the vehicle travels on a flat road. Press the enable switch (932) to operate the travel control handle (931) to control the whole machine to move forward or backward. The brake solenoid valve (7) is energized, and the travel hydraulic motor (8) enters and exits oil in the travel control valve (6) to achieve oil circuit connection. When the machine stops moving, the walking motor (92) generates braking torque. When the walking control handle (931) returns to the neutral position, the electromagnet Y3 on the brake solenoid valve (7) is de-energized, and the oil circuit of the walking hydraulic motor (8) is disconnected, thus forming hydrostatic braking. Step 2: When the whole machine travel mode switching switch (933) is in the flat ground position and the vehicle is traveling on a slope, the vehicle position is detected by the turntable position travel detection switch (1022) and tilt sensor (1021) set on the whole machine chassis. The system controller (101) controls the hydraulic pump (3) to supply oil to the travel control valve (6) in the opposite direction of the rotation of the travel hydraulic motor (8), so that the travel hydraulic motor (8) generates travel resistance. Step 3: When the whole machine travel mode switching switch (933) is in the climbing gear and the vehicle is traveling on a flat road, press the enable switch (932) to operate the travel control handle (931) to control the whole machine to move forward or backward. At this time, the brake solenoid valve (7) is energized and the travel control valve (6) is energized. At this time, the whole machine driving force is provided by the travel motor (92) and the travel hydraulic motor (8). When the machine starts to travel, the system controller (101) controls the hydraulic pump (3) to supply oil to the travel control valve (6) to the travel hydraulic motor (8) along the direction of wheel travel. When the machine stops traveling, the travel motor (92) generates braking torque. When the travel control handle (931) is fully returned to the neutral position, the electromagnet Y3 of the travel control valve (6) and the brake solenoid valve (7) is de-energized, and the oil circuit of the travel hydraulic motor (8) is disconnected, thereby forming hydrostatic braking. Step 4: When the whole machine travel mode switching switch (933) is in the climbing gear and the vehicle is traveling on the slope, the vehicle position is detected by the turntable position travel detection switch (1022) and tilt sensor (1021) set on the whole machine chassis. The system controller (101) controls the hydraulic pump (3) to supply oil to the travel control valve (6) in the opposite direction of the rotation of the travel hydraulic motor (8), so that the travel hydraulic motor (8) generates travel resistance.

8. The auxiliary drive braking control method for boom-type aerial work platforms according to claim 7, characterized in that, Step 2 specifically involves: Step 2.1: Check whether the counterweight of the machine and the front axle of the vehicle are in the same direction according to the turntable position travel detection switch (1022) set on the chassis of the machine; Step 2.2: When the machine's counterweight and the vehicle's front axle are in the same direction, define the tilt angle between the machine and the ground as... If the entire machine is tilted at an angle of α ( When the machine starts to descend from the slope, the electromagnet Y1 of the three-position four-way solenoid directional valve (61) is de-energized and the electromagnet Y2 is energized. The system controller (101) controls the hydraulic pump (3) to supply oil to the travel control valve (6) in the opposite direction of the rotation of the travel hydraulic motor (8). The travel hydraulic motor (8) generates travel resistance, thereby ensuring the stability of the speed of the whole machine during the descent and preventing slippage. Step 2.3: When the machine's counterweight and the vehicle's front axle are in different directions, define the tilt angle between the machine and the ground as... If the entire machine is tilted at an angle of -α ( When the machine starts to descend the slope, the electromagnet Y1 of the three-position four-way solenoid directional valve (61) is de-energized and the electromagnet Y2 is energized. The system controller (101) controls the hydraulic pump (3) to supply oil to the travel control valve (6) in the opposite direction of the rotation of the travel hydraulic motor (8). The travel hydraulic motor (8) generates travel resistance, thereby ensuring the stability of the speed of the whole machine during the descent and preventing slippage.

9. The auxiliary drive braking control method for a boom-type aerial work platform according to claim 8, characterized in that, Step 4 specifically involves: Step 4.1: When the counterweight of the machine and the front axle of the vehicle are in the same direction, define the tilt angle between the machine and the ground as α. If the machine is tilted at an angle α at this time... When the machine starts to descend from the slope, the electromagnet Y1 of the three-position four-way solenoid directional valve (61) is de-energized and the electromagnet Y2 is energized. The system controller (101) controls the hydraulic pump (3) to supply oil to the travel control valve (6) in the opposite direction of the rotation of the travel hydraulic motor (8). The travel hydraulic motor (8) generates travel resistance, thereby ensuring the stability of the speed of the whole machine during the descent and preventing slippage. Step 4.2: When the machine's counterweight and the vehicle's front axle are in the same direction, define the tilt angle between the machine and the ground as... If the entire machine is tilted at an angle of β ( When the machine starts to move downhill on the slope, the brake solenoid valve (7) is energized and the travel control valve (6) is de-energized. The valve core returns to the middle position, so that the travel hydraulic motor (8) enters and exits oil in the travel control valve (6) to realize the oil circuit connection. The travel hydraulic motor (8) does not provide driving force. When the machine stops moving, the walking motor (92) generates braking torque. When the walking control handle (931) returns to the neutral position, the electromagnet Y3 of the brake solenoid valve (7) is de-energized, and the oil circuit of the walking hydraulic motor (8) is disconnected, thus forming hydrostatic braking. Step 4.3: When the machine's counterweight and the vehicle's front axle are in different directions, define the tilt angle between the machine and the ground as... If the entire machine is tilted at an angle of -α ( When the machine starts to descend from the slope, the electromagnet Y1 of the three-position four-way solenoid directional valve (61) is de-energized and the electromagnet Y2 is energized. The system controller (101) controls the hydraulic pump (3) to supply oil to the travel control valve (6) in the opposite direction of the rotation of the travel hydraulic motor (8). The travel hydraulic motor (8) generates travel resistance, thereby ensuring the stability of the speed of the whole machine during the descent and preventing slippage. Step 4.4: When the machine's counterweight and the vehicle's front axle are in different directions, the tilt angle between the machine and the ground is defined as... If the entire machine is tilted at an angle of -β ( When the machine starts to move downhill on the slope, the brake solenoid valve (7) is energized and the travel control valve (6) is de-energized. The valve core returns to the middle position, so that the travel hydraulic motor (8) enters and exits oil in the travel control valve (6) to realize the oil circuit connection. The hydraulic travel motor does not provide driving force. When the machine stops moving, the walking motor (92) generates braking torque. When the walking control handle (931) returns to the neutral position, the electromagnet Y3 of the braking electromagnetic is de-energized, and the oil circuit of the walking hydraulic motor (8) is disconnected, thus forming hydrostatic braking.

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