Walking hydraulic system and shear fork type lifting working platform

Abstract

The utility model discloses a walking hydraulic system and a shear fork type lifting working platform. The system comprises a hydraulic oil tank, an oil pump, a first motor, a second motor, a first electromagnetic reversing valve, a second electromagnetic reversing valve, a third electromagnetic reversing valve, a fourth electromagnetic reversing valve, a first balance valve, a second balance valve and a flow distributing and collecting valve. An original two-position four-way electromagnetic directional valve is replaced by the third electromagnetic directional valve and the fourth electromagnetic directional valve, and the flow distributing and collecting valve is additionally arranged, so that the flow of the two motors is evenly distributed during low-speed walking, and the problems that long-distance linear walking cannot be achieved, and slipping and weakness are prone to occurring during low-speed walking are solved; the flow collecting opening of the flow distributing and collecting valve is connected with the second electromagnetic directional valve in parallel, oil ways are switched through the second electromagnetic directional valve without passing through the flow distributing and collecting valve, and the problems of high system pressure and high energy consumption caused by the fact that oil flows through the flow distributing and collecting valve during high-speed walking are solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of hydraulic drive, and in particular relates to a walking hydraulic system and a scissor-type lifting work platform. Background Art

[0002] Self-propelled scissor lift work platform is a common special equipment for aerial work. Its main functions include lifting, walking, braking and steering. Two motors are installed on the left front wheel and the right front wheel respectively, two brakes are installed on the left rear wheel and the right rear wheel respectively, and the steering cylinder is installed in front of the platform chassis, thus forming a walking system with front-wheel drive, steering and rear-wheel braking. Figure 1 and Figure 2 As shown, the existing walking hydraulic system mainly includes: a three-position four-way solenoid reversing valve, two balancing valves, a two-position four-way solenoid reversing valve, an oil replenishing one-way valve and a motor, wherein the three-position four-way solenoid reversing valve is used to control the working platform to move forward or backward, the two balancing valves are used to maintain a certain return oil back pressure, the two-position four-way solenoid reversing valve is used to switch between high and low speeds (i.e., switching between series and parallel connection of the motor), the oil replenishing one-way valve is used to supplement the additional oil required by the motor, and the motor is used to drive the tires to rotate.

[0003] In recent years, with the rapid growth of the market share of self-propelled scissor lift work platforms, after long-term and extensive use, users have higher and higher requirements for the performance and reliability of the work platforms. However, the travel hydraulic system of the existing self-propelled scissor lift work platforms has the following defects:

[0004] (1) Certain roads cannot be passed at low speeds: The wheel frames of existing work platforms are all rigid structures without floating and other adjustment functions. When encountering potholes or slopes, the low-speed travel causes the platform to be unable to pass through the potholes or slopes due to its own inertia. At this time, three tires support the entire work platform, and one of the tires is suspended. When the suspended tire is one of the two front wheels, most of the oil output by the oil pump flows through the motor with low load (i.e., the motor on the suspended front wheel), resulting in less oil in the motor on the non-suspended front wheel, and unable to build up pressure, which in turn causes the motor to output very little torque, which is unable to drive the entire work platform to move, and thus cannot pass through roads with potholes or slopes.

[0005] (2) The vehicle cannot travel in a straight line for long distances at low speeds: When the road surface is uneven, the loads of the two motors are different, resulting in different oil flow rates to the two motors, different rotation speeds of the two motors, and different travel speeds, making it impossible to travel in a straight line for long distances.

[0006] (3) The travel motor is prone to oil leakage: When traveling at high speed in a non-linear manner (i.e., two motors are connected in series), high pressure will appear in the intermediate oil circuit between the two motors. The greater the steering angle and the faster the travel speed, the greater the oil pressure in the intermediate oil circuit, and may even exceed the maximum pressure of the system. Long-term use may cause damage to the internal oil seal of the motor, thereby causing oil leakage in the motor. Utility Model Content

[0007] The utility model aims to provide a walking hydraulic system and a scissor-type lifting work platform to solve the problems that the traditional walking hydraulic system cannot pass through uneven roads at low speed, cannot walk at low speed in a straight line for long distances, and the walking motor is prone to oil leakage.

[0008] The utility model solves the above technical problems through the following technical solutions: a walking hydraulic system, the system includes a hydraulic oil tank, an oil pump, a first motor and a second motor; the system also includes a first electromagnetic reversing valve, a second electromagnetic reversing valve, a third electromagnetic reversing valve, a fourth electromagnetic reversing valve, a first balancing valve and a second balancing valve and a flow dividing and collecting valve;

[0009] The oil suction port of the oil pump is connected to the oil outlet of the hydraulic oil tank, and the oil outlet of the oil pump is connected to the first port of the first electromagnetic reversing valve; the second port of the first electromagnetic reversing valve is connected to the oil return port of the hydraulic oil tank, the third port of the first electromagnetic reversing valve is connected to the oil inlet of the first balancing valve, and the fourth port of the first electromagnetic reversing valve is connected to the oil inlet of the second balancing valve; the oil outlet of the first balancing valve is connected to the oil inlet of the second electromagnetic reversing valve and the first port of the flow dividing and collecting valve; the oil outlet of the second electromagnetic reversing valve is connected to the second port of the flow dividing and collecting valve and the second port of the third electromagnetic reversing valve; The second port of the diverter and collector valve is connected to the third port of the diverter and collector valve, and a flow regulating component is provided on the oil circuit between the second port of the diverter and collector valve and the third port of the diverter and collector valve; the first port of the third solenoid reversing valve is connected to the A port of the first motor and the third port of the fourth solenoid reversing valve, and the third port of the third solenoid reversing valve is connected to the B port of the second motor, the third port of the diverter and collector valve and the flow regulating component; the second port of the fourth solenoid reversing valve is connected to the A port of the second motor and the second port of the first solenoid reversing valve, and the first port of the fourth solenoid reversing valve is connected to the B port of the first motor and the oil outlet of the second balancing valve.

[0010] Furthermore, the first solenoid reversing valve is a three-position four-way solenoid reversing valve, the second solenoid reversing valve is a two-position two-way solenoid reversing valve, and the third solenoid reversing valve and the fourth solenoid reversing valve are two-position three-way solenoid reversing valves.

[0011] Furthermore, the first electromagnetic reversing valve, the second electromagnetic reversing valve, the third electromagnetic reversing valve and the fourth electromagnetic reversing valve are in the form of cartridge-type electromagnetic reversing valves, plate-type electromagnetic reversing valves or multi-way valves.

[0012] Furthermore, a one-way valve is provided on the oil path between the second port of the fourth electromagnetic reversing valve and the second port of the first electromagnetic reversing valve.

[0013] Furthermore, a one-way throttle valve is provided on the oil circuit between the second port of the first electromagnetic reversing valve and the oil return port of the hydraulic oil tank.

[0014] Furthermore, the second port of the fourth electromagnetic reversing valve is also connected to the oil return port of the hydraulic oil tank through a relief valve.

[0015] Furthermore, an oil return filter is provided at the oil return port of the hydraulic oil tank.

[0016] Furthermore, the hydraulic oil tank is also connected to an air filter.

[0017] Furthermore, the flow regulating component is a damper, a throttle hole or a flow valve.

[0018] Based on the same concept, the utility model also provides a scissor-type lifting work platform, and the work platform includes the walking hydraulic system as described above.

[0019] Beneficial Effects

[0020] Compared with the prior art, the advantages of the utility model are:

[0021] The utility model replaces the original two-position four-way electromagnetic reversing valve with a third electromagnetic reversing valve and a fourth electromagnetic reversing valve, and adds a diversion and collecting valve, thereby ensuring the average distribution of the flow of the two motors when walking at a low speed (that is, the two motors are connected in parallel), making the rotation speed of the two motors consistent, and solving the problems of being unable to walk in a straight line for a long distance and being prone to slipping and weakness when walking at a low speed.

[0022] The utility model connects a flow regulating component in parallel to the diversion port of the diversion and collection valve, has a certain flow compensation and regulation function, and solves the problem of high pressure accumulation of the diversion and collection valve caused by uneven flow demands of two motors during low-speed non-linear travel.

[0023] The collecting port of the diverter and collector valve of the utility model is connected in parallel with a second electromagnetic reversing valve, so that the oil circuit can be switched by the second electromagnetic reversing valve without passing through the diverter and collector valve. When traveling at high speed, the diverter and collector valve is not involved through the oil circuit switching, thereby ensuring product performance and user experience, and solving the problem of high system pressure and high energy consumption caused by oil flowing through the diverter and collector valve during high-speed travel.

[0024] The utility model adds a relief valve in the middle of the oil circuit of two motors connected in series to limit the maximum pressure, thereby preventing the oil seal inside the motor from being subjected to high pressure, reducing the risk of motor oil leakage and improving system reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solution of the present invention, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only one embodiment of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 It is a principle diagram of the existing scheme 1 in the background technology of the utility model;

[0027] Figure 2 It is the principle diagram of the existing scheme 2 in the background technology of the utility model;

[0028] Figure 3 This is a schematic diagram of the initial state of the walking hydraulic system in the embodiment of the utility model;

[0029] Figure 4 This is a schematic diagram of the high-speed forward working condition of the walking hydraulic system in the embodiment of the utility model;

[0030] Figure 5 This is a schematic diagram of the high-speed backward working condition of the walking hydraulic system in the embodiment of the utility model;

[0031] Figure 6 This is a schematic diagram of the low-speed forward working condition of the walking hydraulic system in the embodiment of the utility model;

[0032] Figure 7 It is a schematic diagram of the low-speed backward working condition of the walking hydraulic system in the embodiment of the utility model.

[0033] Explanation of the accompanying drawings: 1-first solenoid reversing valve, 2-first balancing valve, 3-second solenoid reversing valve, 4-diverter and collector valve, 5-flow regulating member, 6-third solenoid reversing valve, 7-fourth solenoid reversing valve, 8-first motor, 9-second motor, 10-check valve, 11-overflow valve, 12-second balancing valve, 13-check valve, 14-hydraulic oil tank, 15-return oil filter, 16-air filter, 17-motor, 18-gear pump. DETAILED DESCRIPTION

[0034] The following is a clear and complete description of the technical solution in the utility model in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0035] The technical solution of the present application is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0036] like Figure 3 As shown, a walking hydraulic system provided by an embodiment of the utility model includes a hydraulic oil tank 14, an oil pump, a first motor 8 and a second motor 9, a first solenoid reversing valve 1, a second solenoid reversing valve 3, a third solenoid reversing valve 6, a fourth solenoid reversing valve 7, a first balancing valve 2 and a second balancing valve 12, and a diverter and collector valve 4.

[0037] The oil suction port of the oil pump is connected to the oil outlet of the hydraulic oil tank 14, and the oil outlet of the oil pump is connected to the first port ① of the first electromagnetic reversing valve 1; the second port ② of the first electromagnetic reversing valve 1 is connected to the oil return port of the hydraulic oil tank 14, the third port ③ of the first electromagnetic reversing valve 1 is connected to the oil inlet of the first balancing valve 2, and the fourth port ④ of the first electromagnetic reversing valve 1 is connected to the oil inlet of the second balancing valve 12; the oil outlet of the first balancing valve 2 is connected to the oil inlet of the second electromagnetic reversing valve 3 and the first port ① of the diverter and collector valve 4; the oil outlet of the second electromagnetic reversing valve 3 is connected to the second port ② of the diverter and collector valve 4 and the second port ② of the third electromagnetic reversing valve 6; the second port ② of the diverter and collector valve 4 It is also connected to the third port ③ of the diverter and collector valve 4, and a flow regulating component 5 is provided in the oil circuit between the second port ② of the diverter and collector valve 4 and the third port ③ of the diverter and collector valve 4; the first port ① of the third solenoid reversing valve 6 is connected to the port A of the first motor 8 and the third port ③ of the fourth solenoid reversing valve 7, the third port ③ of the third solenoid reversing valve 6 is connected to the port B of the second motor 9, the third port ③ of the diverter and collector valve 4 and the flow regulating component 5; the second port ② of the fourth solenoid reversing valve 7 is connected to the port A of the second motor 9 and the second port ② of the first solenoid reversing valve 1, and the first port ① of the fourth solenoid reversing valve 7 is connected to the port B of the first motor 8 and the oil outlet of the second balancing valve 12.

[0038] In a specific embodiment of the utility model, the first electromagnetic reversing valve 1 is a three-position four-way electromagnetic reversing valve, the second electromagnetic reversing valve 3 is a two-position two-way electromagnetic reversing valve, and the third electromagnetic reversing valve 6 and the fourth electromagnetic reversing valve 7 are two-position three-way electromagnetic reversing valves. The first electromagnetic reversing valve 1, the second electromagnetic reversing valve 3, the third electromagnetic reversing valve 6 and the fourth electromagnetic reversing valve 7 are in the form of cartridge electromagnetic reversing valves or plate-type electromagnetic reversing valves or multi-way valves.

[0039] In a specific implementation of the present invention, a one-way valve 10 is provided in the oil circuit between the second port ② of the fourth electromagnetic reversing valve 7 and the second port ② of the first electromagnetic reversing valve 1 , and the one-way valve 10 is used to supplement the additional oil required by the motor.

[0040] In a specific embodiment of the utility model, a one-way throttle valve 13 is provided in the oil circuit between the second port ② of the first electromagnetic reversing valve 1 and the oil return port of the hydraulic oil tank 14. In this embodiment, the one-way throttle valve 13 includes a one-way valve and a throttle hole, or a one-way valve and a damper.

[0041] In a specific implementation of the utility model, the second port ② of the fourth solenoid reversing valve 7 is also connected to the oil return port of the hydraulic oil tank 14 through the overflow valve 11. When the oil exceeds the pressure threshold, part of the oil flows back to the hydraulic oil tank 14 through the overflow valve 11. By adding an overflow valve 11 in the middle of the two motor series oil circuits to limit the maximum pressure, the internal oil seal of the motor is prevented from being subjected to high pressure, the risk of motor oil leakage is reduced, and the system reliability is improved.

[0042] In a specific embodiment of the present utility model, an oil return filter 15 is provided at the oil return port of the hydraulic oil tank 14 to filter out pollutants generated or invaded in the system, thereby preventing the pollutants from entering the hydraulic oil tank 14 .

[0043] In a specific embodiment of the present invention, the hydraulic oil tank 14 is also connected to an air filter 16, which keeps the oil in the hydraulic oil tank 14 clean and prevents dust particles from entering the hydraulic oil tank 14 from the outside, thereby extending the working cycle and service life of the hydraulic oil and components.

[0044] In a specific embodiment of the present utility model, the flow regulating component 5 is a damping, a throttle hole or a flow valve, and a damping, a throttle hole or a flow valve is connected in parallel to the two diversion ports of the diversion and collecting valve 4, which has a certain flow compensation and adjustment function, thereby solving the problem of high pressure buildup in the diversion and collecting valve 4 caused by uneven flow demands of the two motors during low-speed non-linear travel.

[0045] In a specific implementation of the present utility model, the oil pump adopts a gear pump 18 , and the gear pump 18 is driven by a motor 17 .

[0046] The walking working conditions of the walking hydraulic system of the utility model include high-speed forward, high-speed reverse, low-speed forward and low-speed reverse.

[0047] like Figure 4As shown, high-speed forward working condition (the first motor 8 and the second motor 9 are connected in series): the motor 17 drives the gear pump 18 to rotate, the gear pump 18 outputs oil, the first electromagnet Y1 of the first solenoid reversing valve 1 and the electromagnet Y5 of the second solenoid reversing valve 3 are energized (the second electromagnet Y2 of the first solenoid reversing valve 1, the electromagnet Y3 of the third solenoid reversing valve 6 and the electromagnet Y4 of the fourth solenoid reversing valve 7 are de-energized), and the oil output from the gear pump 18 flows through the first port ① and the third port ③ of the first solenoid reversing valve 1, the first balancing valve 2, the second solenoid reversing valve 3, the second port ② and the third port ③ of the third solenoid reversing valve 6, the B port and the A port of the second motor 9, the second port ② and the third port ③ of the fourth solenoid reversing valve 7, the A port and the B port of the first motor 8, the second balancing valve 12, the fourth port ④ and the second port ② of the first solenoid reversing valve 1, the one-way throttle valve 13, the return oil filter 15 and the hydraulic oil tank 14 in sequence.

[0048] Under high-speed forward conditions, the electromagnet Y5 that controls the second solenoid reversing valve 3 is energized, and the oil circuit is switched through the second solenoid reversing valve 3, so that the oil does not pass through the diverter and collector valve 4, thereby avoiding the problem of high system pressure and high fuel consumption caused by the oil flowing through the diverter and collector valve 4 during high-speed travel; because part of the oil remains at the oil outlet of the one-way valve 10 when the oil flows from the second motor 9 to the second port ② of the fourth solenoid reversing valve 7, the oil does not flow to the one-way valve 10 when it flows back to the hydraulic oil tank 14 through the second port ② of the first solenoid reversing valve 1.

[0049] like Figure 5 As shown, in the high-speed reverse working condition (the first motor 8 and the second motor 9 are connected in series): the motor 17 drives the gear pump 18 to rotate, the gear pump 18 outputs oil, the second electromagnet Y2 of the first electromagnetic reversing valve 1 and the electromagnet Y5 of the second electromagnetic reversing valve 3 are energized (the first electromagnet Y1 of the first electromagnetic reversing valve 1, the electromagnet Y3 of the third electromagnetic reversing valve 6 and the electromagnet Y4 of the fourth electromagnetic reversing valve 7 are de-energized), and the oil output from the gear pump 18 flows through the first port ① and the second port ① of the first electromagnetic reversing valve 1 in sequence. The fourth port ④, the second balancing valve 12, the B port and the A port of the first motor 8, the third port ③ and the second port ② of the fourth solenoid reversing valve 7 (when the oil pressure exceeds the pressure threshold, part of the oil flows back to the hydraulic oil tank 14 through the overflow valve 11), the A port and the B port of the second motor 9, the third port ③ and the second port ② of the third solenoid reversing valve 6, the second solenoid reversing valve 3, the first balancing valve 2, the third port ③ and the second port ② of the first solenoid reversing valve 1, the one-way throttle valve 13, the return oil filter 15 and the hydraulic oil tank 14.

[0050] Under high-speed reverse conditions, the electromagnet Y5 that controls the second solenoid reversing valve 3 is energized, and the oil circuit is switched through the second solenoid reversing valve 3 so that the oil does not pass through the diverter and collector valve 4, thereby avoiding the problem of high system pressure and high fuel consumption caused by the oil flowing through the diverter and collector valve 4 during high-speed travel.

[0051] like Figure 6 As shown, in the low-speed forward working condition (the first motor 8 and the second motor 9 are connected in parallel): the motor 17 drives the gear pump 18 to rotate, and the gear pump 18 outputs oil. The first electromagnet Y1 of the first electromagnetic reversing valve 1, the electromagnet Y3 of the third electromagnetic reversing valve 6 and the electromagnet Y4 of the fourth electromagnetic reversing valve 7 are energized (the second electromagnet Y2 of the first electromagnetic reversing valve 1 and the electromagnet Y5 of the second electromagnetic reversing valve 3 are de-energized), and the oil output from the gear pump 18 flows through the first port ① and the third port ③ of the first electromagnetic reversing valve 1, the first balancing valve 2, and the first port ① of the flow dividing and collecting valve 4 in sequence, and then is divided into two parallel oil circuits, one of which is the flow dividing and collecting circuit. The second port ② of the valve 4, the second port ② and the first port ① of the third solenoid reversing valve 6, the A port and the B port of the first motor 8, and the second balancing valve 12 (because the oil pressure at the first port ① of the fourth solenoid reversing valve 7 is relatively large, it does not flow into the first port ① of the fourth solenoid reversing valve 7), and the other oil circuit is the third port ③ of the diverter and collector valve 4, the B port and the A port of the second motor 9, the second port ② and the first port ① of the fourth solenoid reversing valve 7, and the second balancing valve 12. After the two oil circuits are combined in the second balancing valve 12, they flow to the fourth port ④ and the second port ② of the first solenoid reversing valve 1, the one-way throttle valve 13, the return oil filter 15 and the hydraulic oil tank 14 in sequence.

[0052] Under the low-speed forward condition, the newly added diverter and collector valve 4 divides the oil into two paths that flow to the first motor 8 and the second motor 9 respectively, and then merges at the second balancing valve 12, ensuring the even distribution of the flow of the two motors during low-speed travel, making the rotation speed of the two motors consistent, and realizing low-speed long-distance straight travel. It can pass through roads with potholes or slopes at low speed, solving the problems of being unable to travel in a straight line for long distances and easy slipping and weakness when traveling at low speed.

[0053] like Figure 7As shown, in the low-speed reverse working condition (the first motor 8 and the second motor 9 are connected in parallel): the motor 17 drives the gear pump 18 to rotate, the gear pump 18 outputs oil, the second electromagnet Y2 of the first electromagnetic reversing valve 1, the electromagnet Y3 of the third electromagnetic reversing valve 6 and the electromagnet Y4 of the fourth electromagnetic reversing valve 7 are energized (the first electromagnet Y1 of the first electromagnetic reversing valve 1 and the electromagnet Y5 of the second electromagnetic reversing valve 3 are de-energized), and the oil output from the gear pump 18 flows through the first port ① and the fourth port ④ of the first electromagnetic reversing valve 1 and the second balance valve 12 in sequence, and then is divided into two oil paths, wherein One oil circuit is sequentially connected to port B and port A of the first motor 8, first port ① and second port ② of the third solenoid reversing valve 6, second port ② and first port ① of the diverter and collector valve 4, and the first balancing valve 2; the other oil circuit is sequentially connected to port ① and second port ② of the fourth solenoid reversing valve 7, port A and port B of the second motor 9, third port ③ and first port ① of the diverter and collector valve 4, and the first balancing valve 2. After being collected in the first balancing valve 2, the two oil circuits flow sequentially to the third port ③ and second port ② of the first solenoid reversing valve 1, the one-way throttle valve 13, the return oil filter 15 and the hydraulic oil tank 14.

[0054] Under the low-speed reverse condition, the newly added diverter and collector valve 4 divides the oil into two paths that flow to the first motor 8 and the second motor 9 respectively, and then merges at the first balancing valve 2, ensuring the even distribution of the flow of the two motors during low-speed travel, making the rotation speed of the two motors consistent, and realizing low-speed long-distance straight travel. It can pass through roads with potholes or slopes at low speed, solving the problems of being unable to travel in a straight line for long distances and easy slipping and weakness when walking at low speed.

[0055] The embodiment of the utility model further provides a scissor-type lifting work platform, and the work platform comprises the walking hydraulic system as described above.

[0056] The above disclosure is only a specific implementation method of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of changes or modifications within the technical scope disclosed in the utility model, which should be included in the protection scope of the utility model.

Claims

1. A walking hydraulic system, comprising a hydraulic oil tank, an oil pump, a first motor and a second motor; characterized in that: The system further comprises a first electromagnetic reversing valve, a second electromagnetic reversing valve, a third electromagnetic reversing valve, a fourth electromagnetic reversing valve, a first balancing valve and a second balancing valve, and a flow dividing and collecting valve; The oil suction port of the oil pump is connected to the oil outlet of the hydraulic oil tank, and the oil outlet of the oil pump is connected to the first port of the first electromagnetic reversing valve; the second port of the first electromagnetic reversing valve is connected to the oil return port of the hydraulic oil tank, the third port of the first electromagnetic reversing valve is connected to the oil inlet of the first balancing valve, and the fourth port of the first electromagnetic reversing valve is connected to the oil inlet of the second balancing valve; the oil outlet of the first balancing valve is connected to the oil inlet of the second electromagnetic reversing valve and the first port of the flow dividing and collecting valve; the oil outlet of the second electromagnetic reversing valve is connected to the second port of the flow dividing and collecting valve and the second port of the third electromagnetic reversing valve; The second port of the diverter and collector valve is connected to the third port of the diverter and collector valve, and a flow regulating component is provided on the oil circuit between the second port of the diverter and collector valve and the third port of the diverter and collector valve; the first port of the third solenoid reversing valve is connected to the A port of the first motor and the third port of the fourth solenoid reversing valve, and the third port of the third solenoid reversing valve is connected to the B port of the second motor, the third port of the diverter and collector valve and the flow regulating component; the second port of the fourth solenoid reversing valve is connected to the A port of the second motor and the second port of the first solenoid reversing valve, and the first port of the fourth solenoid reversing valve is connected to the B port of the first motor and the oil outlet of the second balancing valve.

2. The walking hydraulic system according to claim 1, characterized in that: The first electromagnetic reversing valve is a three-position four-way electromagnetic reversing valve, the second electromagnetic reversing valve is a two-position two-way electromagnetic reversing valve, and the third and fourth electromagnetic reversing valves are two-position three-way electromagnetic reversing valves.

3. The walking hydraulic system according to claim 1, characterized in that: The first electromagnetic reversing valve, the second electromagnetic reversing valve, the third electromagnetic reversing valve and the fourth electromagnetic reversing valve are in the form of cartridge-type electromagnetic reversing valves, plate-type electromagnetic reversing valves or multi-way valves.

4. The walking hydraulic system according to claim 1, characterized in that: A one-way valve is provided on the oil path between the second port of the fourth electromagnetic reversing valve and the second port of the first electromagnetic reversing valve.

5. The walking hydraulic system according to claim 1, characterized in that: A one-way throttle valve is provided on the oil circuit between the second port of the first electromagnetic reversing valve and the oil return port of the hydraulic oil tank.

6. The walking hydraulic system according to claim 1, characterized in that: The second port of the fourth electromagnetic reversing valve is also connected to the oil return port of the hydraulic oil tank through a relief valve.

7. The walking hydraulic system according to claim 1, characterized in that: An oil return filter is provided at the oil return port of the hydraulic oil tank.

8. The walking hydraulic system according to claim 1, characterized in that: The hydraulic oil tank is also connected to an air filter.

9. The walking hydraulic system according to claim 1, characterized in that: The flow regulating component is a damper, a throttle hole or a flow valve.

10. A scissor-type lifting work platform, characterized in that: The working platform comprises the traveling hydraulic system according to any one of claims 1 to 9.

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