Four-wheel crawler walking mechanism, control method and engineering machinery

Abstract

The invention discloses a four-wheel crawler walking mechanism, a control method and engineering machinery, the four-wheel crawler walking mechanism is characterized in that a rear cross beam is arranged at one end of a longitudinal beam, a front cross beam is arranged at the other end of the longitudinal beam, walking structures are arranged at the two ends of the rear cross beam and the two ends of the front cross beam, and each walking structure is provided with a steering oil cylinder and a lifting oil cylinder; the hydraulic oil pump is used for providing high pressure for the steering oil cylinder and the lifting oil cylinder of the walking structure; the sensor is used for detecting the displacement, inclination and pressure of the steering oil cylinder and the lifting oil cylinder and the rotating speed of the walking structure; the control valve group is provided with a proportional electromagnet for detecting electric signals of the walking structure, the steering oil cylinder and the lifting oil cylinder; the controller is used for adjusting the displacement amplitude and direction of the valve core of the control valve by controlling an input electric signal of the proportional electromagnet according to the detection data of the sensor, so as to control the stretching and retracting of the steering oil cylinder and the lifting oil cylinder and the speed and direction of the walking structure; according to the invention, equipment transition and angle adjustment are greatly facilitated; meanwhile, the running states of the oil cylinder and the motor are automatically fed back through a sensor, so that the equipment is synchronous in running speed to adapt to working conditions such as uneven road surfaces and pits, and the use stability of the equipment is improved.

Description

Technical Field

[0001] The present invention relates to a four-wheel crawler running gear, a control method and a construction machinery, belonging to the technical field of crawler running gear system control. Background Art

[0002] As an efficient ground moving technology, the core of the crawler running gear consists of crawler shoes, drive wheels, idlers and a tensioning system. By increasing the ground contact area, the ground bearing pressure is significantly reduced, endowing the equipment with excellent passability on soft, rough and other complex terrains. Since its industrial application in the early 20th century, this technology has been extended from traditional construction machinery to diverse fields such as modern agricultural machinery, polar scientific research equipment, fire rescue equipment and military armored platforms.

[0003] Traditional crawler running gears mostly have two sets of crawlers arranged left and right, and the forward, backward and turning are realized by respectively controlling the working states of the left and right crawlers. However, for many large equipment, two sets of crawlers cannot ensure their load capacity and the overall machine stability, and four sets of crawlers need to be arranged. Therefore, in the above situations, how to control the equipment to move stably, with a small turning radius and adapt to various working conditions has become an urgent problem to be solved. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a four-wheel crawler running gear, a control method and a construction machinery; To achieve the above purpose / To solve the above technical problems, the present invention is implemented by the following technical solutions: First aspect: A four-wheel crawler running gear, comprising: A longitudinal beam, one end of the longitudinal beam is provided with a rear cross beam, and the other end is provided with a front cross beam. The two ends of the rear cross beam and the front cross beam are provided with running structures, and each running structure is equipped with a steering oil cylinder and a lifting oil cylinder; A hydraulic oil pump for providing high pressure for the steering oil cylinder and the lifting oil cylinder of the running structure; A sensor for detecting the displacement, pressure of the steering oil cylinder and the lifting oil cylinder, the inclination angles of the front and rear cross beams, and the rotational speed of the running structure; A control valve group, the control valve group is provided with a proportional electromagnet for detecting the electrical signals of the running structure, the steering oil cylinder and the lifting oil cylinder; A controller, the controller adjusts the displacement amplitude and direction of the control valve spool by controlling the input electrical signal of the proportional electromagnet according to the detection data of the sensor, and further realizes the control of the telescopic of the steering oil cylinder and the lifting oil cylinder and the speed and direction of the running structure.

[0005] Optionally, one end of the rear cross beam is provided with a left rear running structure, and the other end is provided with a right rear running structure. One end of the front cross beam is provided with a left front running structure, and the other end is provided with a right front running structure.

[0006] Optionally, the sensors include a displacement sensor, an inclination sensor, a pressure sensor, and a rotational speed sensor. The displacement sensor detects the cylinder strokes of the steering cylinder and the lifting cylinder, and the controller controls the synchronization of the actions of the cylinders during equipment transfer and angle adjustment. The inclination sensor is provided on the rear crossbeam and the front crossbeam to detect the inclination angle of the vehicle body. The pressure sensor is used to detect the working pressure of the lifting cylinder, and the rotational speed sensor is used to detect the rotational speed of the traveling structure.

[0007] Optionally, one end of the steering cylinder is connected to the crossbeam, and the other end is connected to the traveling structure.

[0008] Optionally, the traveling structure uses a traveling motor.

[0009] Optionally, the steering cylinders include a left rear steering cylinder, a right rear steering cylinder, a left front steering cylinder, and a right front steering cylinder. The left rear steering cylinder is used to control the left rear traveling mechanism, the right rear steering cylinder is used to control the right rear traveling mechanism, the left front steering cylinder is used to control the left front traveling mechanism, and the right front steering cylinder is used to control the right front traveling mechanism.

[0010] Optionally, the lifting cylinders include a left rear lifting cylinder, a right rear lifting cylinder, a left front lifting cylinder, and a right front lifting cylinder. The left rear lifting cylinder and the left front lifting cylinder are used to adjust the height of the left side, the left front, and the left rear, and the right rear lifting cylinder and the right front lifting cylinder are used to adjust the height of the right side, the right front, and the right rear.

[0011] Optionally, the traveling mechanism includes the following traveling modes: When the traveling structure is perpendicular to the crossbeam, the traveling state of the equipment is forward / backward; When the traveling mechanism is parallel to the crossbeam, the traveling state of the equipment is left / right translation; When the traveling mechanism forms a 45-degree angle with the crossbeam, the traveling state of the equipment is a full turn in place.

[0012] Second aspect: A control method for a four-wheel track traveling mechanism, the method includes: When the controller sends an instruction to make the traveling state of the equipment be forward / backward, the proportional electromagnets inside the control valve group control each steering cylinder to extend and retract to a state where the traveling structure is perpendicular to the crossbeam. At this time, when the displacement sensor detects that the set state is reached, the equipment stops operating; When the controller sends an instruction to make the traveling state of the equipment be left / right translation or a full turn in place, the proportional electromagnets inside the control valve group control the traveling structure to be parallel to the crossbeam. At this time, the state is left / right translation. When the traveling mechanism forms a 45-degree angle with the crossbeam, the state is a full turn in place at this time; When the device is in normal operation, if the inclination sensor detects that the inclination angle of the rear crossbeam or the front crossbeam exceeds the set range, it is determined that the device is tilted due to uneven road surface at this time. At this time, the controller sends an instruction to the proportional electromagnet inside the control valve group to preferentially raise the lifting cylinder on the tilted side; if the displacement sensor detects that the lifting cylinder on the tilted side has reached the highest state, the lifting cylinder on the opposite side can also be lowered until the inclination angle of the device returns to the set range. When the device is in normal operation, if the pressure value of a certain lifting cylinder detected by the pressure sensor is lower than the set range, it is determined that the device is in a state where one side of the walking structure is suspended due to a pit on the road surface at this time. At this time, the controller sends an instruction to the proportional electromagnet inside the control valve group to preferentially raise the lifting cylinder on the suspended side; if the displacement sensor detects that the lifting cylinder on the suspended side has reached the highest state, the other lifting cylinders can also be lowered until the pressure value of the lifting cylinder on the suspended side of the device returns to the set range. When the device is in normal operation, the rotational speed sensor is used to monitor the rotational speeds of the motors of the four walking structures in real time. When the rotational speed of a certain walking structure is inconsistent with that of the others, it can be judged that this walking structure is slipping. At this time, the controller sends an instruction to the proportional electromagnet inside the control valve group to reduce the rotational speed of the motor of the walking structure until the rotational speeds are synchronized.

[0013] Third aspect: A construction machinery, including the four-wheel tracked walking mechanism according to any one of the first aspect and the control method according to the second aspect.

[0014] Compared with the prior art, the beneficial effects achieved by the present invention are as follows: The control technology for the four-wheel tracked walking mechanism provided by the present invention can realize three traveling states of the four-wheel tracked walking mechanism: forward / backward, left / right translation, and in-situ rotation, reducing the turning radius of the device and greatly facilitating the device's transfer and angle adjustment; at the same time, by automatically feedbacking the operating states of the cylinders and motors through sensors, the traveling speed of the device can be synchronized, and it can adapt to working conditions such as uneven road surface and potholes, improving the use stability of the device. Description of the Drawings

[0015] Figure 1 It is a schematic diagram of the system control method of the present invention; Figure 2 It is a schematic diagram of the forward / backward traveling state of the walking mechanism of the present invention; Figure 3 It is a schematic diagram of the left / right translation traveling state of the walking mechanism of the present invention; Figure 4 It is a schematic diagram of the in-situ rotation traveling state of the walking mechanism of the present invention.

[0016] In the figure: 1, longitudinal beam; 2-1, rear cross beam; 2-2, front cross beam; 3, traveling structure; 3-1, left rear traveling mechanism; 3-2, right rear traveling mechanism; 3-3, left front traveling mechanism; 3-4, right front traveling mechanism; 4, steering oil cylinder; 4-1, left front steering oil cylinder; 4-2, left rear steering oil cylinder; 4-3, left front steering oil cylinder; 4-4, right front steering oil cylinder; 5, lifting oil cylinder; 5-1, left rear lifting oil cylinder; 5-2, right rear lifting oil cylinder; 5-3, left front lifting oil cylinder; 5-4, right front lifting oil cylinder; 6, hydraulic oil tank; 7, hydraulic oil pump; 8, control valve group; 9, displacement sensor; 10, inclination sensor; 11, pressure sensor; 12, rotational speed sensor; 13, controller; 14, traveling motor. Detailed implementation mode

[0017] In order to make the technical means, creative features, achieved purposes and functions of the present invention easy to understand, the present invention will be further described below in conjunction with the detailed implementation mode.

[0018] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "plurality" is two or more.

[0019] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "connection", "connection" 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 or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific situations.

[0020] Embodiment 1: A four-wheel caterpillar traveling mechanism, comprising: The longitudinal beam 1, one end of the longitudinal beam 1 is provided with a rear cross beam 2-1, and the other end is provided with a front cross beam 2-2. Both ends of the rear cross beam 2-1 and the front cross beam 2-2 are provided with traveling structures 3, and each traveling structure 3 is equipped with a steering oil cylinder 4 and a lifting oil cylinder 5; A hydraulic oil pump 8 for providing high pressure for the steering oil cylinder 4 and the lifting oil cylinder 5 of the traveling structure 3; A sensor for detecting the displacement, pressure of the steering oil cylinder 4 and the lifting oil cylinder 5, the inclination angle of the front and rear cross beams, and the rotational speed of the traveling structure 3; A control valve group 7, and the control valve group 8 is provided with a proportional electromagnet for detecting the electrical signals of the traveling structure 3, the steering oil cylinder 4 and the lifting oil cylinder 5; A controller 13, and the controller 13 adjusts the displacement amplitude and direction of the control valve spool by controlling the input electrical signal of the proportional electromagnet according to the sensor detection data, so as to realize the control of the telescopic of the steering oil cylinder 4 and the lifting oil cylinder 5 and the speed and direction of the traveling structure 3.

[0021] In the specific implementation process of this embodiment, one end of the rear cross beam 2-1 is provided with a left rear traveling mechanism 3-1, and the other end is provided with a right rear traveling mechanism 3-2. One end of the front cross beam 2-2 is provided with a left front traveling mechanism 3-3, and the other end is provided with a right front traveling mechanism 3-4.

[0022] In the specific implementation process of this embodiment, the sensor includes a displacement sensor 9, an inclination sensor 10, a pressure sensor 11 and a rotational speed sensor 12. The displacement sensor 9 detects the cylinder stroke of the steering oil cylinder 4 and the lifting oil cylinder 5, and controls the synchronization of the cylinders during equipment transfer and angle adjustment through the controller 13. The inclination sensor 10 is arranged on the rear cross beam 2-1 and the front cross beam 2-2 to detect the body inclination angle. The pressure sensor 11 is used to detect the working pressure of the lifting oil cylinder 5, and the rotational speed sensor 12 is used to detect the rotational speed of the traveling structure 3.

[0023] The displacement sensor 9 is used to feedback the cylinder stroke of the steering oil cylinder 4 and the lifting oil cylinder 5, and controls the synchronization of the cylinder actions through the controller 13; The inclination sensor 10 is arranged on the rear cross beam 2-1 and the front cross beam 2-2. Once it is found that the equipment tilts to one side, the corresponding lifting oil cylinder 5 can be controlled to extend to increase the height of the tilted side and ensure the stable attitude of the equipment; The pressure sensor 11 is used to feedback the working pressure of the lifting oil cylinder 5. Once the working pressure of the lifting oil cylinder 5 changes due to the track suspension, the lifting oil cylinder 5 can be controlled to extend until it contacts the ground; The rotational speed sensor 12 is used to feedback the rotational speeds of the four traveling motors 14, and controls the traveling speeds of the four traveling structures 3 to be consistent through the controller 13.

[0024] In the specific implementation process of this embodiment, one end of the steering cylinder 4 is connected to the cross beam 2, and the other end is connected to the traveling structure 3. By controlling the telescopic movement of the steering cylinder 4, the traveling mechanism can be rotated around the central position.

[0025] In the specific implementation process of this embodiment, the traveling structure 3 is a crawler structure controlled by the traveling motor 14. The traveling structure 3 uses traveling motors, and there are four groups in total, which are arranged in a rectangle as a whole. Horizontally, they are connected by the cross beam 2, and longitudinally, two groups of cross beams 2 are connected by the longitudinal beam 1. Each traveling mechanism 3 is provided with a steering cylinder 4, a lifting cylinder 5 and a sensor.

[0026] In the specific implementation process of this embodiment, the steering cylinder 4 includes a left rear steering cylinder 4-1, a right rear steering cylinder 4-2, a left front steering cylinder 4-3 and a right front steering cylinder 4-4. The left rear steering cylinder 4-1 is used to control the left rear traveling mechanism 3-1, the right rear steering cylinder 4-2 is used to control the right rear traveling mechanism 3-2, the left front steering cylinder 4-3 is used to control the left front traveling mechanism 3-3, and the right front steering cylinder 4-4 is used to control the right front traveling mechanism 3-4.

[0027] In the specific implementation process of this embodiment, one side of the lifting cylinder 5 is arranged on the traveling mechanism 3, and the other side is arranged on the cross beam. By controlling the telescopic movement of the lifting cylinder 5, the longitudinal beam 1 and the cross beam 2 can be raised and lowered relative to the traveling mechanism 3. The lifting cylinder 5 includes a left rear lifting cylinder 5-1, a right rear lifting cylinder 5-2, a left front lifting cylinder 5-3 and a right front lifting cylinder 5-4. The left rear lifting cylinder 5-1 and the left front lifting cylinder 5-3 are used to adjust the height of the left side, the left front and the left rear, and the right rear lifting cylinder 5-2 and the right front lifting cylinder 5-4 are used to adjust the height of the right side, the right front and the right rear.

[0028] In the specific implementation process of this embodiment, through the control of the steering cylinder 4, the traveling mechanism 3 can achieve three traveling modes: When the traveling structure 3 is perpendicular to the cross beam 2, the traveling state of the equipment is forward / backward; When the traveling mechanism 3 is parallel to the cross beam 2, the traveling state of the equipment is left / right translation; When the traveling mechanism 3 forms a 45-degree angle with the cross beam 2, the traveling state of the equipment is in-situ rotation.

[0029] To ensure the passability of the equipment, in the initial state, the lowest position of the longitudinal beam 1 should be slightly higher than the lowest position of the traveling mechanism 3. However, when the traveling mechanism 3 rotates, to reduce the frictional resistance, the longitudinal beam 1 can touch the ground and the traveling mechanism 3 can be suspended by retracting the lifting cylinder 5.

[0030] Embodiment 2: A control method for a four-wheel crawler traveling mechanism, the method includes: When the controller 13 sends an instruction to make the traveling state of the device be forward / backward, the proportional electromagnets inside the control valve group 8 control each steering cylinder 4 to extend and retract to a state where the traveling structure 3 is perpendicular to the cross beam 2 according to a predetermined program. At this time, when the displacement sensor 9 detects that the set state has been reached, the device stops operating; when the controller 13 sends an instruction to make the traveling state of the device be left / right translation or in-situ rotation, the proportional electromagnets inside the control valve group 8 control the traveling structure 3 to be parallel to the cross beam 2. At this time, the state is left / right translation. When the traveling mechanism 3 and the cross beam 2 form a 45-degree angle, the current state is in-situ rotation.

[0031] When the device is traveling normally, if the tilt sensor 10 detects that the tilt angle of the rear cross beam 2-1 or the front cross beam 2-2 exceeds the set range, it is determined that the device state at this time is that the device is tilted due to uneven road surface. At this time, the controller 13 sends an instruction to the proportional electromagnets inside the control valve group 8 to preferentially raise the lifting cylinder 5 on the tilted side; if the displacement sensor 9 detects that the lifting cylinder 5 on the tilted side has reached the highest state, the lifting cylinder 5 on the opposite side can also be lowered until the tilt angle of the device returns to the set range.

[0032] When the device is traveling normally, if the pressure sensor 11 detects that the pressure value of a certain lifting cylinder 5 is lower than the set range, it is determined that the device state at this time is that a certain side of the traveling structure 3 is suspended due to a pit on the road surface. At this time, the controller 13 sends an instruction to the proportional electromagnets inside the control valve group 8 to preferentially raise the lifting cylinder 5 on the suspended side; if the displacement sensor 9 detects that the lifting cylinder 5 on the suspended side has reached the highest state, the other lifting cylinders 5 can also be lowered until the pressure value of the lifting cylinder 5 on the suspended side of the device returns to the set range.

[0033] When the device is traveling normally, the rotational speed sensor 12 is used to monitor the rotational speeds of the motors of the four traveling structures 3 in real time. When the rotational speed of a certain traveling structure 3 is inconsistent with that of the others, it can be determined that this traveling structure 3 is slipping. At this time, the controller 13 sends an instruction to the proportional electromagnets inside the control valve group 8 to reduce the rotational speed of the motor of the traveling structure 3 until the rotational speeds are synchronized.

[0034] The control valve group 8 has four groups, and each group corresponds to a group of steering cylinders 4, lifting cylinders 5, and traveling structures 3. Each control valve group 8 is provided with proportional electromagnets Y1-Y6. The controller 13 adjusts the displacement amplitude and direction of the control valve spool by controlling the input electrical signals of the proportional electromagnets Y1-Y6, thereby realizing the control of the extension and retraction of each cylinder and the speed and direction of the motor rotation.

[0035] Embodiment 3: A construction machinery includes the four-wheel track traveling mechanism according to any one of Embodiment 1 and the control method according to Embodiment 2.

[0036] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A four-wheel track walking mechanism, characterized in that, Comprising: A longitudinal beam (1), one end of the longitudinal beam (1) is provided with a rear cross beam (2-1), and the other end is provided with a front cross beam (2-2). Both ends of the rear cross beam (2-1) and the front cross beam (2-2) are provided with traveling structures (3), and each traveling structure (3) is equipped with a steering oil cylinder (4) and a lifting oil cylinder (5); A hydraulic oil pump (7) for providing high pressure for the traveling structure (3), the steering oil cylinder (4) and the lifting oil cylinder (5); Sensors for detecting the displacement, pressure of the steering oil cylinder (4) and the lifting oil cylinder (5), the inclination angles of the front and rear cross beams, and the rotational speed of the traveling structure (3); A control valve group (8), and the control valve group (8) is provided with a proportional electromagnet for detecting the electrical signals of the traveling structure (3), the steering oil cylinder (4) and the lifting oil cylinder (5); A controller (13), and the controller (13) adjusts the displacement amplitude and direction of the control valve spool by controlling the input electrical signal of the proportional electromagnet according to the sensor detection data, so as to control the telescopic of the steering oil cylinder (4) and the lifting oil cylinder (5) and the speed and direction of the traveling structure (3).

2. The four-wheel track walking mechanism according to claim 1, characterized in that, One end of the rear cross beam (2-1) is provided with a left rear traveling mechanism (3-1), and the other end is provided with a right rear traveling mechanism (3-2). One end of the front cross beam (2-2) is provided with a left front traveling mechanism (3-3), and the other end is provided with a right front traveling mechanism (3-4).

3. The four-wheel track walking mechanism according to claim 1, characterized in that The sensors include a displacement sensor (9), an inclination angle sensor (10), a pressure sensor (11) and a rotational speed sensor (12). The displacement sensor (9) detects the cylinder stroke of the steering oil cylinder (4) and the lifting oil cylinder (5), and controls the synchronization of the cylinders during equipment transfer and angle adjustment through the controller (13). The inclination angle sensor (10) is arranged on the rear cross beam (2-1) and the front cross beam (2-2) to detect the body tilt angle. The pressure sensor (11) is used to detect the working pressure of the lifting oil cylinder (5), and the rotational speed sensor (12) is used to detect the rotational speed of the traveling structure (3).

4. The four-wheel track walking mechanism according to claim 1, characterized in that, One end of the steering oil cylinder (4) is connected to the cross beam (1), and the other end is connected to the traveling structure (3).

5. The four-wheel track walking mechanism according to claim 1, characterized in that The traveling structure (3) adopts a traveling motor.

6. The four-wheel crawler running gear according to claim 1, characterized in that, The steering oil cylinder (4) includes a left rear steering oil cylinder (4-1), a right rear steering oil cylinder (4-2), a left front steering oil cylinder (4-3) and a right front steering oil cylinder (4-4). The left rear steering oil cylinder (4-1) is used to control the left rear traveling mechanism (3-1), the right rear steering oil cylinder (4-2) is used to control the right rear traveling mechanism (3-2), the left front steering oil cylinder (4-3) is used to control the left front traveling mechanism (3-3), and the right front steering oil cylinder (4-4) is used to control the right front traveling mechanism (3-4).

7. The four-wheel track walking mechanism according to claim 1, characterized in that, The lifting oil cylinders (5) include a left rear lifting oil cylinder (5-1), a right rear lifting oil cylinder (5-2), a left front lifting oil cylinder (5-3), and a right front lifting oil cylinder (5-4). The left rear lifting oil cylinder (5-1) and the left front lifting oil cylinder (5-3) are used to adjust the height of the left side, the left front, and the left rear. The right rear lifting oil cylinder (5-2) and the right front lifting oil cylinder (5-4) are used to adjust the height of the right side, the right front, and the right rear.

8. The four-wheel track walking mechanism according to claim 1, wherein The traveling mechanism includes the following traveling modes: When the traveling structure (3) is perpendicular to the cross beam (2), the traveling state of the equipment is forward / backward; When the traveling mechanism (3) is parallel to the cross beam (2), the traveling state of the equipment is left / right translation; When the traveling mechanism (3) forms a 45-degree angle with the cross beam (2), the traveling state of the equipment is in-situ rotation.

9. A control method for a four-wheel crawler running mechanism, characterized in that The method includes: When the controller (13) sends an instruction to make the traveling state of the equipment be forward / backward, the proportional electromagnets inside the control valve group (8) control the telescoping of each steering oil cylinder (4) to a state where the traveling structure (3) is perpendicular to the cross beam (2). At this time, when the displacement sensor (9) detects that the set state has been reached, the equipment stops operating; When the controller (13) sends an instruction to make the traveling state of the equipment be left / right translation or in-situ rotation, the proportional electromagnets inside the control valve group (8) control the traveling structure (3) to be in a state parallel to the cross beam (2). At this time, the state is left / right translation. When the traveling mechanism (3) forms a 45-degree angle with the cross beam (2), the state is then in-situ rotation; When the equipment is in normal traveling, if the inclination sensor (10) detects that the inclination angle of the rear cross beam (2-1) or the front cross beam (2-2) exceeds the set range, it is determined that the equipment state is inclined due to uneven road surface at this time. At this time, the controller (13) sends an instruction to the proportional electromagnets inside the control valve group (8) to preferentially raise the lifting oil cylinder (5) on the inclined side; if the displacement sensor (9) detects that the lifting oil cylinder (5) on the inclined side has reached the highest state, the lifting oil cylinder (5) on the opposite side can also be lowered until the inclination angle of the equipment returns to the set range; When the equipment is in normal traveling, if the pressure value of a certain lifting oil cylinder (5) detected by the pressure sensor (11) is lower than the set range, it is determined that the equipment state is that a certain side of the traveling structure (3) is suspended due to a pit on the road surface at this time. At this time, the controller (13) sends an instruction to the proportional electromagnets inside the control valve group (8) to preferentially raise the lifting oil cylinder (5) on the suspended side; if the displacement sensor (9) detects that the lifting oil cylinder (5) on the suspended side has reached the highest state, the other lifting oil cylinders (5) can also be lowered until the pressure value of the lifting oil cylinder (5) on the suspended side of the equipment returns to the set range; When the equipment is in normal traveling, the rotational speed sensor (12) is used to monitor the rotational speeds of the motors of the four traveling structures (3) in real time. When the rotational speed of a certain traveling structure (3) is inconsistent with that of the others, it can be judged that this traveling structure (3) is slipping. At this time, the controller (13) sends an instruction to the proportional electromagnets inside the control valve group (8) to reduce the rotational speed of the motor of the traveling structure (3) until the rotational speeds are synchronized.

10. An engineering machinery, characterized in that, Comprising the four-wheel crawler running mechanism according to any one of claims 1-8 and the control method according to claim 9.

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