CN104594161B - Tire paver and traveling control system thereof - Google Patents
Tire paver and traveling control system thereof Download PDFInfo
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- CN104594161B CN104594161B CN201410715573.2A CN201410715573A CN104594161B CN 104594161 B CN104594161 B CN 104594161B CN 201410715573 A CN201410715573 A CN 201410715573A CN 104594161 B CN104594161 B CN 104594161B
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- wheel
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- traveling control
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- forerunner
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C19/00—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving
- E01C19/12—Machines, tools or auxiliary devices for preparing or distributing paving materials, for working the placed materials, or for forming, consolidating, or finishing the paving for distributing granular or liquid materials
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
-
- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01C—CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE; MACHINES OR AUXILIARY TOOLS FOR CONSTRUCTION OR REPAIR
- E01C2301/00—Machine characteristics, parts or accessories not otherwise provided for
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- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Road Paving Machines (AREA)
- Body Structure For Vehicles (AREA)
Abstract
The invention discloses a kind of tire paver and traveling control system thereof, this system includes detecting device, for obtaining when front and back wheel walk signal；Controller, for receiving when front and back wheel walk signal, and exports trailing wheel and controls signal to rear drive system；Also include forerunner's aid system；Forerunner switchs, for choosing whether to export front-wheel working signal to described controller according to operating mode；Described controller is also after receiving front-wheel working signal, and output front-wheel controls signal to described forerunner's aid system simultaneously.This traveling control system disclosure satisfy that the demand of paver difference paving operation, increases car load driving force, and improves car load anti-skidding ability.
Description
Technical field
The present invention relates to technical field of engineering machinery, particularly relate to a kind of tire paver and
Traveling control system.
Background technology
Paver is a kind of to be mainly used in basic unit and surface layer various material paving operation on road surface
Construction equipment, pavement spread material is evenly distributed to pave on roadbed by controlling device by it,
Through operation routines such as tamping, leveling and trowelings, complete making molding.
Wherein, tire paver is good because of maneuverability, and transition is fast, and the high spy of efficiency of construction
Point, is widely used.
At present, traveling control system many employings mechanical type of tire paver, full hydraulic is less,
And full hydraulic is rear wheel drive.
In actually used, tire paver is in when paving shelves work, due to load change frequently,
Paver trailing wheel and the coefficient of friction on ground exist bigger different, therefore, often occur because of
Driving force causes the situation of rear wheels slip not, affects the normal work of paver.
In view of this, how to improve the traveling control system of tire paver, be allowed to satisfied and pave
The demand of machine difference paving operation, increases car load driving force, and improves anti-skidding ability, is this
Skilled person is presently required and solves the technical problem that.
Summary of the invention
It is an object of the invention to provide a kind of tire paver and traveling control system, this system
Disclosure satisfy that the demand of paver difference paving operation, increase car load driving force, and improve car load
Anti-skidding ability.
For solving above-mentioned technical problem, the present invention provides the travelling control system of a kind of tire paver
System, including:
Detection device, for obtaining when front and back wheel walk signal；
Controller, for receiving when front and back wheel walk signal, and exports after trailing wheel controls signal to
Drive system；Also include:
Forerunner's aid system；
Forerunner switchs, for choosing whether to export front-wheel working signal to described control according to operating mode
Device；
Described controller is also after receiving front-wheel working signal, and output front-wheel controls signal to simultaneously
Described forerunner's aid system.
Compared with prior art, the traveling control system that the present invention provides is on the basis of rear drive system
On add forerunner's aid system and forerunner switch；Wherein, forerunner's switch optionally exports
Or not exporting front-wheel working signal, controller exports or does not export before front-wheel controls signal to accordingly
Drive aid system, say, that forerunner's aid system can connect controller, same with rear drive system
Time tire on the drive wheels paver, it is possible to do not connect controller, make rear drive system be operated alone tire stand
Paving machine；Thus, tire paver is when paving shelves heavy duty operation, and operator can be by front
Drive switch activated forerunner's aid system, make forerunner's aid system jointly act on rear drive system, with
Increase car load driving force, improve the ability of the anti-skidding of car load；Tire paver walking operating mode or
Pave grade underloading operation time, operator can switch closedown forerunner's aid system by forerunner,
Drive system drives the most rearward；This traveling control system can select operation according to different operating modes, carries
The suitability of high paver.
Alternatively, described detection device includes trailing wheel speed detecting component, ought be front and back for acquisition
Wheel speed；
Described controller, according to when front and back wheel speed, calculates the front wheel speed matched, and generates
Corresponding front-wheel speed control signal, and export to described forerunner's aid system.
Alternatively, described forerunner's aid system includes front-wheel power source, the left and right motor of front-wheel,
And it is arranged on the load-sensitive valve between described front-wheel power source and the left and right motor of described front-wheel；
Described load-sensitive valve is before according to the front-wheel speed control signal control received
Take turns the velocity magnitude of left and right motor.
Alternatively, described front-wheel power source is dosing pump.
Alternatively, described load-sensitive valve is additionally provided with pressure regulating part, described negative to regulate
Carry sensitive valve and export the power size of the left and right motor of described front-wheel.
Alternatively, described detection device also includes turning to detection part, is used for obtaining current direction
Dish angle；
Described controller, according to given speed and the current steering wheel angle of reception, calculates trailing wheel mesh
Mark speed, further according to trailing wheel target velocity with when front and back wheel speed exports trailing wheel speed control signal
To described rear drive system.
Described rear drive system includes left and right hydraulic pump and is driven respectively by described left and right hydraulic pump
Left and right hydraulic motor, described left and right hydraulic pump by described paver electromotor drive；
Left and right electromagnetic valve, described left and right electromagnetic valve it is respectively provided with on described left and right hydraulic pump
Regulate described left and right hydraulic pump according to the trailing wheel speed control signal received and flow to described left and right
The flow of hydraulic motor.
Alternatively, described controller also includes deviation rectification control unit, to adjust described tire
The paver rectilinearity when straight line moving.
Alternatively, described deviation rectification control unit is preset with the appointment time, during according to this appointment
Between and when front and back wheel speed, the distance travelled difference of left and right trailing wheel in calculating this appointment time,
And control signal to described left electromagnetic valve, or described right electromagnetic valve accordingly according to the output of this difference.
The present invention also provides for a kind of tire paver, including traveling control system, described walking control
System processed is aforementioned described traveling control system.
Owing to aforementioned traveling control system has aforementioned techniques effect, so including this travelling control
The tire paver of system also has corresponding technique effect, repeats no more here.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of the traveling control system of tire paver provided by the present invention；
Fig. 2 is the schematic diagram of the front-wheel assistant drive system of traveling control system in Fig. 1；
Fig. 3 is the schematic diagram of the rear wheel drive system of traveling control system in Fig. 1；
Fig. 4 shows the schematic diagram calculating trailing wheel target velocity.
In Fig. 1-3:
Controller 10, deviation rectification control unit 11；
Rear drive system 20, left hydraulic pump 21a, right hydraulic pump 21b, left hydraulic motor 22a, right
Hydraulic motor 22b, left electromagnetic valve 23a, right electromagnetic valve 23b；
Forerunner's aid system 30, dosing pump 31, front-wheel left motor 32a, front-wheel right motor 32b,
Load-sensitive valve 33, forerunner switchs 34；
Detection device 40.
Detailed description of the invention
The core of the present invention is to provide a kind of tire paver and traveling control system, this system
Disclosure satisfy that the demand of paver difference paving operation, increase car load driving force, and improve anti-beating
Sliding ability.
In order to make those skilled in the art be more fully understood that the present invention program, below in conjunction with the accompanying drawings
The present invention is described in further detail with detailed description of the invention.
Refer to the traveling control system that Fig. 1, Fig. 1 are tire paver provided by the present invention
Structured flowchart.
In this embodiment, described traveling control system includes controller 10, rear drive system 20 and
Detection device 40.
Wherein, detection device 40 can obtain tire paver when front and back wheel walk signal,
And output this to controller 10；Controller 10 according to receive when front and back wheel walk signal,
Output trailing wheel controls signal to rear drive system 20；Rear drive system 20 controls according to the trailing wheel received
Wheel speed after signal adjustment, to realize the control to tire paver travel speed.
Described traveling control system also includes forerunner's aid system 30, this forerunner's aid system 30
Switch 34 by forerunner optionally to connect with controller 10.
When forerunner switch 34 open time, it is possible to output front-wheel working signal to controller 10, control
After device 10 processed receives front-wheel working signal, drive system 20 after output trailing wheel controls signal to
While, also output front-wheel controls signal to forerunner's aid system 30, say, that after now
Drive system 20 and forerunner's aid system 30 jointly act as tire paver and provide driving force；When
When forerunner switchs 34 closedown, do not export front-wheel working signal, controller 10 output rear wheel
Signal processed is to rear drive system 20, say, that now, and only rear drive system 20 paves for tire
Machine provides driving force.
It is arranged such, when tire paver is in the shelves heavy duty operation that paves, and driving force is not enough, trailing wheel
During skidding, 34 can be switched by opening forerunner, make forerunner's aid system 30 and controller 10
Connection, forerunner's aid system 30 acts on jointly with rear drive system 20, thus increases car load and drive
Power, improves the ability of the anti-skidding of car load；When tire paver is in grade underloading operation or the walking of paving
During operating mode, when the driving force of rear drive system 20 offer is enough, forerunner can be closed and switch 34,
The connection cutting off forerunner's aid system 30 and control 10, drive system 20 provides driving force the most rearward.
Visible, this traveling control system can select operation according to different operating modes, improves tire paver
Service behaviour and the suitability.
The control principle of forerunner aid system 30 is described below.Can understand with reference to Fig. 2 in the lump,
Fig. 2 is the schematic diagram of forerunner's aid system of traveling control system in Fig. 1.
In concrete scheme, detection device 40 includes trailing wheel speed detecting component, is used for obtaining
When front and back wheel speed.
Specifically, trailing wheel speed detecting component could be arranged to rear wheel speed sensor.
Here, rear wheel speed sensor includes the left rear wheel velocity pick-up obtaining left rear wheel speed
Device, and obtain the off hind wheel velocity sensor of off hind wheel speed；Correspondingly, when front and back wheel speed
Including current left rear wheel speed and current off hind wheel speed.
In being described below, relate to rear wheel speed and control signal thereof, all include left rear wheel and the right side
Trailing wheel, similarly, relates to front wheel speed and control signal thereof, the most all includes the near front wheel and the right side
Front-wheel；Unless stated otherwise, the most all take this as the standard.
When being appreciated that actual setting, it is possible to other detection parts are set and directly or indirectly obtain
When front and back wheel speed, as utilized photoelectric code disk to measure.
Controller 10, according to when front and back wheel speed, calculates the front wheel speed matched, and generates
Corresponding front-wheel speed control signal, and export to forerunner's aid system 30.
In reality, the diameter of the front wheels and rear wheels of tire paver there are differences, but front-wheel and after
Wheel should have identical linear velocity, can accordingly by recorded when front and back wheel speed, calculate
Go out the front wheel speed mated.
Forerunner's aid system 30 is according to wheel speed before the front-wheel speed control signal regulation and control received.
In concrete scheme, forerunner's aid system 30 includes front-wheel power source, the left motor of front-wheel
32a, front-wheel right motor 32b, and it is arranged on front-wheel power source and front-wheel left motor 32a, front
Take turns the load-sensitive valve 33 between right motor 32b；This load-sensitive valve 33 is used for receiving control
The front-wheel speed control signal of device 10 output, and control front-wheel according to this front-wheel speed control signal
Left motor 32a, the velocity magnitude of front-wheel right motor 32b, thus wheel speed before controlling.
This forerunner's aid system 30 is easy to control, reliable, and is easily achieved.
Specifically, described front-wheel power source can be set to dosing pump 31, and dosing pump 31 output is dynamic
Power to load-sensitive valve 33, is transferred to the left motor of front-wheel by this load-sensitive valve 33 by power
32a, front-wheel right motor 32b；Other devices that power can be provided can certainly be set to.
More specifically, pressure regulating part can be arranged on load-sensitive valve 33, in order to regulate
Load-sensitive valve 33 exports to front-wheel left motor 32a, the power size of front-wheel right motor 32b.
So, can be according to actual job demand, the power size of adjustment quantitative pump 31 output,
Make the better adaptability of traveling control system.
The control principle of rear drive system 20 is described below, can understand with reference to Fig. 3 in the lump, Fig. 3
For the schematic diagram of the rear drive system of traveling control system in Fig. 1.
In concrete scheme, detection device 40 also includes turning to detection part, works as obtaining
Front steering wheel angle.
Specifically, detection part is turned to could be arranged to rotation direction sensor described in.
It is pointed out that, in reality, steering wheel angle is reflected directly on front-wheel, so setting
When putting, rotation direction sensor, to obtain front wheel steering angle, i.e. steering wheel can be set on front-wheel
Angle.Here, rotation direction sensor may be mounted at the near front wheel or is arranged on off-front wheel, works as peace
When being contained in the near front wheel, the steering angle of off-front wheel can be calculated by the angle relation of left and right front-wheel
Obtain.
Controller 10, according to given speed and the current steering wheel angle of reception, calculates trailing wheel mesh
Mark speed, further according to trailing wheel target velocity with when front and back wheel speed, output trailing wheel speed controlling letter
Number to rear drive system 20.
Rear drive system 20 is according to wheel speed after the trailing wheel speed control signal regulation and control received.
During operation, operator can set a given speed according to real work needs, to
Travel speed is adjusted to this given speed by traveling control system accordingly, carries out correspondingly operation.
In reality, the signal of given speed is passed through speed by the speed adjustment knob on bench board by operator
Degree potentiometer is transferred to controller 10.
Generally, given speed does not differentiates between left rear wheel and off hind wheel, is a value, say, that
Left rear wheel is consistent with the given speed of off hind wheel, during so arranging, also needs according to working as front
To dish angle, trailing wheel target velocity could be obtained and (include left rear wheel target velocity and off hind wheel mesh
Mark speed).
When being appreciated that actual setting, current steering wheel angle is except utilizing rotation direction sensor to obtain
Outward, directly or indirectly obtain also by other detection parts.
The Computing Principle of trailing wheel target velocity refers to Fig. 4 and understands.
Specifically, tire paver, when turning to, uses " half eight words as shown in Figure 4
Turn to pattern ".Explanation as a example by turning to the left in Fig. 4.
The near front wheel rotation direction sensor can be utilized to obtain the near front wheel turn to founding mathematical models accordingly
Angle α, in combination with known wheelbase S, utilizes trigonometric function theorem, can obtain easily
The turning radius that tire paver is respectively taken turns, in figure, O is turning center point.
When driving only with rear drive system 20, differential ratio during rear-axle steering is equal to left rear wheel
With the ratio of the linear velocity of off hind wheel, owing to both angular velocity are identical, therefore turning to equal to both
The ratio of radius.
When after using, drive system 20 and forerunner's aid system 30 simultaneously drive, equally obtain
Take left and right front-wheel, the differential ratio of left and right trailing wheel；Utilize data above, just can realize tire
Paver turn to differential control；Trailing wheel target velocity can be calculated in conjunction with given speed.
Certainly, during practical operation, it is possible to use other calculations to calculate trailing wheel target velocity.
In concrete scheme, in controller 10, PID control unit can be set, to ought be front and back
Wheel speed carries out closed loop control；Specifically, with trailing wheel target velocity for controlling target, by speed
Degree sensor can obtain when front and back wheel speed, compares trailing wheel target velocity and when front and back wheel speed
Difference, according to this difference, rear wheel speed carried out closed loop control, generate corresponding after wheel speed
Control signal, and it is transferred to rear drive system 20, so that rear wheel speed gradually tends to trailing wheel target speed
Degree.
Closed loop control is realized by PID control unit, simple and practical the most easy to adjust.Certainly,
Reality may be used without other control modes.
In concrete scheme, rear drive system 20 includes left hydraulic pump 21a, right hydraulic pump 21b,
With by the separately-driven left hydraulic motor 22a of left hydraulic pump 21a, right hydraulic pump 21b, right hydraulic pressure
Motor 22b.
Wherein, left hydraulic pump 21a, right hydraulic pump 21b are driven by the electromotor of tire paver.
Wherein, left hydraulic pump 21a, right hydraulic pump 21b are respectively arranged with left electromagnetic valve 23a,
Right electromagnetic valve 23b；This left electromagnetic valve 23a receives the left rear wheel speed controlling of controller 10 output
Signal, and regulate left hydraulic pump 21a accordingly and flow to the flow of left hydraulic motor 22a, thus adjust
The speed of joint left rear wheel；This right electromagnetic valve 23b receives the off hind wheel speed control of controller 10 output
Signal processed, and regulate right hydraulic pump 21b accordingly and flow to the flow of right hydraulic motor 22b, thus
The speed of regulation off hind wheel.
This rear drive system 20 uses the drive form of two pump two motors, and rear wheel speed all uses PID
Algorithm controls, can reach fixed speed control demand.
Specifically, left hydraulic pump 21a, right hydraulic pump 21b can select Variable plunger pump, its
Compact conformation, efficiency are high and Flow-rate adjustment is convenient；Certainly, actual also can be selected for other when arranging
The hydraulic pump of type, such as gear pump, vane pump etc..
Further, controller 10 also includes deviation rectification control unit 11, this deviation rectification
Control unit 11 is for adjusting the tire paver rectilinearity when straight line moving.
In reality, during tire paver straight line moving, may be affected by various factors and make a left side
The travel speed of trailing wheel and off hind wheel differs, and causes tire paver sideslip, and deviation rectification controls
Arranging of unit 11 can avoid this type of phenomenon to occur.
Can be judged by current steering wheel angle, whether tire paver is in straight line moving shape
State；When the current steering wheel angle that rotation direction sensor obtains is zero, it is believed that tire paver
It is in straight line moving state, starts deviation rectification control unit 11, to regulate the rectilinearity of car load.
In concrete scheme, deviation rectification control unit 11 is preset with the appointment time, refers to according to this
Fix time and work as front and back wheel speed, in the appointment time can be calculated in the traveling of left and right trailing wheel
Path difference value, and control signal to left electromagnetic valve 23a or right electromagnetism accordingly according to the output of this difference
Valve 23b, to adjust the flow of left hydraulic motor 22a or right hydraulic motor 22b, until left,
The distance travelled difference of off hind wheel levels off to zero.
Actual when arranging, the described appointment time can set according to controlling needs, such as one minute,
Two minutes etc..
Certainly, deviation rectification control unit 11 can also adjust tire by other control modes
The paver rectilinearity when straight line moving.
As, deviation rectification control unit 11 can not be preset the appointment time, directly calculates left and right
The difference of trailing wheel present speed, adjusts left hydraulic motor 22a or right hydraulic motor 22b's with this
Flow, until the speed of left and right trailing wheel is consistent.But, more difficult operation in this kind of mode reality,
Can preferred aforementioned schemes.
In addition to above-mentioned traveling control system, the present invention also provides for a kind of tire paver, including
Traveling control system, described traveling control system is aforementioned described traveling control system.
Owing to aforementioned traveling control system has aforementioned techniques effect, so including this travelling control
The tire paver of system also has corresponding technique effect, repeats no more here.
Above tire paver provided by the present invention and traveling control system thereof are all carried out
It is discussed in detail.Principle and the embodiment of the present invention are carried out by specific case used herein
Illustrating, the explanation of above example is only intended to help to understand that the method for the present invention and core thereof are thought
Think.It should be pointed out that, for those skilled in the art, without departing from this
On the premise of bright principle, it is also possible to the present invention is carried out some improvement and modification, these improve and
Modify in the protection domain also falling into the claims in the present invention.
Claims (9)
1. the traveling control system of tire paver, including:
Detection device (40), for obtaining when front and back wheel walk signal；
Controller (10), for receiving when front and back wheel walk signal, and exports trailing wheel control letter
Number to rear drive system (20)；It is characterized in that, also include:
Forerunner's aid system (30)；
Forerunner switchs (34), for choosing whether to export front-wheel working signal to institute according to operating mode
State controller (10)；
Described controller (10), also after receiving front-wheel working signal, exports front-wheel control signal
To described forerunner's aid system (30)；
Described detection device (40) includes trailing wheel speed detecting component, works as front and back wheel for obtaining
Speed；
Described controller (10), according to when front and back wheel speed, calculates the front wheel speed matched,
Generate corresponding front-wheel speed control signal, and export to described forerunner's aid system (30).
Traveling control system the most according to claim 1, it is characterised in that before described
Drive aid system (30) and include front-wheel power source, the left and right motor of front-wheel, and it is arranged on institute
State the load-sensitive valve (33) between front-wheel power source and the left and right motor of described front-wheel；
Described load-sensitive valve (33) is for controlling institute according to the front-wheel speed control signal received
State the velocity magnitude of the left and right motor of front-wheel.
Traveling control system the most according to claim 2, it is characterised in that before described
Wheel power source is dosing pump (31).
Traveling control system the most according to claim 3, it is characterised in that described negative
Carry sensitive valve (33) and be additionally provided with pressure regulating part, to regulate described load-sensitive valve (33)
Output is to the power size of the left and right motor of described front-wheel.
Traveling control system the most according to claim 1, it is characterised in that described inspection
Survey device (40) also to include turning to detection part, be used for obtaining current steering wheel angle；
Described controller (10), according to given speed and the current steering wheel angle of reception, calculates
Trailing wheel target velocity, further according to trailing wheel target velocity and wheel speed control after front and back wheel speed exports
Signal processed is to described rear drive system (20).
Traveling control system the most according to claim 5, it is characterised in that after described
Drive system (20) include left and right hydraulic pump and by the described separately-driven left side of left and right hydraulic pump,
Right hydraulic motor, described left and right hydraulic pump is driven by the electromotor of described paver；
Left and right electromagnetic valve, described left and right electromagnetic valve it is respectively provided with on described left and right hydraulic pump
Regulate described left and right hydraulic pump according to the trailing wheel speed control signal received and flow to described left and right
The flow of hydraulic motor.
Traveling control system the most according to claim 6, it is characterised in that described control
Device processed (10) also includes deviation rectification control unit (11), exists adjusting described tire paver
Rectilinearity during straight line moving.
Traveling control system the most according to claim 7, it is characterised in that described row
Walk control unit of rectifying a deviation (11) and be preset with the appointment time, according to this appointment time with work as front and back wheel
Speed, the distance travelled difference of left and right trailing wheel in calculating this appointment time, and according to this difference
Output controls signal to described left electromagnetic valve (23a), or described right electromagnetic valve (23b) accordingly.
9. tire paver, including traveling control system, it is characterised in that described walking control
System processed is the traveling control system described in any one of claim 1 to 8.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410715573.2A CN104594161B (en) | 2014-11-28 | 2014-11-28 | Tire paver and traveling control system thereof |
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| CN201410715573.2A CN104594161B (en) | 2014-11-28 | 2014-11-28 | Tire paver and traveling control system thereof |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107371562B (en) * | 2016-05-16 | 2020-07-17 | 南京德朔实业有限公司 | Power tool, mower and control method thereof |
| CN108223468A (en) * | 2018-01-17 | 2018-06-29 | 广西柳工机械股份有限公司 | Land leveller front-wheel drive control system |
| CN113276672A (en) * | 2021-05-27 | 2021-08-20 | 山推工程机械股份有限公司 | Multi-wheel walking driving system and electronic anti-slip method |
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