CN110962924A

CN110962924A - Hydraulic driving and steering system and aerial working machine

Info

Publication number: CN110962924A
Application number: CN201911243159.5A
Authority: CN
Inventors: 邹婿邵; 王光辉; 段建辉; 肖承丰
Original assignee: Zoomlion Heavy Industry Science and Technology Co Ltd
Current assignee: Hunan Zoomlion Intelligent Aerial Work Machinery Co Ltd
Priority date: 2019-12-06
Filing date: 2019-12-06
Publication date: 2020-04-07
Anticipated expiration: 2039-12-06
Also published as: CN110962924B

Abstract

The invention discloses a hydraulic driving and steering system, which comprises a walking control valve capable of shunting and collecting flow, a first hydraulic motor, a second hydraulic motor, a third hydraulic motor, a fourth hydraulic motor, a steering control valve, a plurality of steering oil cylinders and a pivot steering switching valve, wherein the first hydraulic motor, the second hydraulic motor, the third hydraulic motor and the fourth hydraulic motor are respectively used for driving corresponding wheels; the second hydraulic motor and the fourth hydraulic motor are connected with the walking control valve through the first reversing valve and the second reversing valve so as to control two-wheel drive and four-wheel drive to be switched, and the first hydraulic motor and the second hydraulic motor are connected with the walking control valve through the pivot steering switching valve so as to realize pivot steering. The invention also discloses an aerial work machine. The invention can realize the pivot steering of the equipment and can switch between two-wheel drive and four-wheel drive.

Description

Hydraulic driving and steering system and aerial working machine

Technical Field

The invention relates to aerial work equipment, in particular to a hydraulic driving and steering system, and further relates to aerial work machinery.

Background

An aerial work platform is a machine used for lifting personnel, tools and materials thereof to an aerial work place and realizing self-walking through a walking hydraulic system. The movable lifting platform can be suitable for high-altitude equipment installation, maintenance and the like in various industries, and provides a movable lifting platform for operators to quickly and safely solve high-altitude operation. The structure is compact, the steering is flexible, and the width of the ground can ensure that the equipment enters a narrow passage and a crowded working area. The flexibility and the safety of the method are more and more accepted by various industries, and the application range is more and more extensive.

The walking hydraulic system of the existing high-altitude operation machine mainly comprises a walking control valve, a steering control valve, a hydraulic motor and a steering oil cylinder, wherein the hydraulic motor is controlled by the walking control valve to realize functions of straight walking, crab walking and the like, and the steering oil cylinder is controlled by the steering control valve to realize steering. In construction in a narrow area, a small turning radius is required, but the conventional aerial work machine cannot achieve the purpose.

Accordingly, there is a need for a new hydraulic drive and steering system that overcomes or alleviates the above-mentioned deficiencies of the prior art.

Disclosure of Invention

The technical problem to be solved by the invention is to provide a hydraulic drive and steering system, which not only can realize the in-situ steering of equipment, but also can switch between two-wheel drive and four-wheel drive.

In addition, the technical problem to be solved by the invention is to provide an aerial work machine, which can realize pivot steering in construction in a narrow area and has better flexibility.

In order to achieve the above object, a first aspect of the present invention provides a hydraulic drive and steering system, including a travel control valve capable of splitting and collecting flow, a plurality of hydraulic motors for driving corresponding wheels respectively, a steering control valve, a plurality of steering cylinders connected to the wheels, and a pivot steering switching valve, wherein each of the hydraulic motors is connected to the travel control valve to control the forward and reverse rotation of each of the hydraulic motors through the travel control valve, and the steering control valve controls the steering of the corresponding wheel through each of the steering cylinders; each hydraulic motor is respectively a first hydraulic motor, a second hydraulic motor, a third hydraulic motor and a fourth hydraulic motor; the first oil port of the second hydraulic motor and the second oil port of the fourth hydraulic motor are respectively connected with the walking control valve through a first reversing valve, and the second oil port of the second hydraulic motor and the first oil port of the fourth hydraulic motor are respectively connected with the walking control valve through a second reversing valve so as to control the switching of two-wheel drive and four-wheel drive through the reversing of the first reversing valve and the second reversing valve; and the second hydraulic motor is respectively connected with the first reversing valve and the second reversing valve through the pivot steering switching valve, and the first hydraulic motor is connected with the walking control valve through the pivot steering switching valve so as to control the wheels on the left side and the right side to roll along opposite directions.

Preferably, the pivot steering switching valve comprises a third reversing valve and a fourth reversing valve, and the third reversing valve and the fourth reversing valve are respectively connected with the first hydraulic motor and the second hydraulic motor in a one-to-one correspondence manner, so that the rotation direction of the corresponding wheel can be controlled by reversing the third reversing valve and the fourth reversing valve.

Preferably, the traveling control valve further comprises a fifth reversing valve, the traveling control valve comprises a first flow dividing and collecting valve connected with a first oil port of the traveling control valve and two second flow dividing and collecting valves connected with a second oil port of the traveling control valve, the first flow dividing and collecting valve and the second flow dividing and collecting valve are connected in parallel with a throttle valve, and a flushing valve connected with an oil tank is arranged between the first oil port and the second oil port of the traveling control valve; one of the flow dividing oil ports of the first flow dividing and collecting valve is respectively connected with the fourth reversing valve and the second oil port of the fourth hydraulic motor through the first reversing valve, and the other flow dividing oil port of the first flow dividing and collecting valve is respectively connected with the third reversing valve and the second oil port of the third hydraulic motor; one second flow dividing and collecting valve is respectively connected with the fourth reversing valve and the first oil port of the fourth hydraulic motor through the second reversing valve, and the other second flow dividing and collecting valve is respectively connected with the third reversing valve and the first oil port of the third hydraulic motor; the fifth reversing valve comprises a first oil port connected with the first oil port of the walking control valve, a second oil port connected with the flow dividing oil port of the first flow dividing and collecting valve far away from the first reversing valve, and a third oil port connected with the flow collecting oil port of the first flow dividing and collecting valve.

Preferably, the traveling control valve further comprises a fifth reversing valve, the traveling control valve comprises two first flow dividing and collecting valves connected with the first oil ports of the traveling control valve and a second flow dividing and collecting valve connected with the second oil ports of the traveling control valve, the first flow dividing and collecting valve and the second flow dividing and collecting valve are connected in parallel with a throttle valve, and a flushing valve connected with an oil tank is arranged between the first oil ports and the second oil ports of the traveling control valve; one first flow dividing and collecting valve is respectively connected with the fourth reversing valve and the second oil port of the fourth hydraulic motor through the first reversing valve, and the other first flow dividing and collecting valve is respectively connected with the third reversing valve and the second oil port of the third hydraulic motor; one of the flow dividing oil ports of the second flow dividing and collecting valve is respectively connected with the fourth reversing valve and the first oil port of the fourth hydraulic motor through the second reversing valve, and the other flow dividing oil port of the second flow dividing and collecting valve is respectively connected with the third reversing valve and the first oil port of the third hydraulic motor; the fifth reversing valve comprises a first oil port connected with a second oil port of the walking control valve, a second oil port connected with a flow dividing oil port of the second flow dividing and collecting valve far away from the second reversing valve, and a third oil port connected with a flow collecting oil port of the second flow dividing and collecting valve.

Preferably, the walking control valve comprises two first flow dividing and collecting valves connected with a first oil port of the walking control valve and two second flow dividing and collecting valves connected with a second oil port of the walking control valve, the first flow dividing and collecting valves and the second flow dividing and collecting valves are connected with throttle valves in parallel, and a flushing valve connected with an oil tank is arranged between the first oil port and the second oil port of the walking control valve; one first flow dividing and collecting valve is respectively connected with the fourth reversing valve and the second oil port of the fourth hydraulic motor through the first reversing valve, and the other first flow dividing and collecting valve is respectively connected with the third reversing valve and the second oil port of the third hydraulic motor; and one second flow dividing and collecting valve is respectively connected with the fourth reversing valve and the first oil port of the fourth hydraulic motor through the second reversing valve, and the other second flow dividing and collecting valve is respectively connected with the third reversing valve and the first oil port of the third hydraulic motor.

Preferably, the traveling control valve comprises two fifth reversing valves, the traveling control valve comprises a first flow dividing and collecting valve connected with a first oil port of the traveling control valve and a second flow dividing and collecting valve connected with a second oil port of the traveling control valve, the first flow dividing and collecting valve and the second flow dividing and collecting valve are connected in parallel with a throttle valve, and a flushing valve connected with an oil tank is arranged between the first oil port and the second oil port of the traveling control valve; one of the flow dividing oil ports of the first flow dividing and collecting valve is respectively connected with the fourth reversing valve and the second oil port of the fourth hydraulic motor through the first reversing valve, and the other flow dividing oil port of the first flow dividing and collecting valve is respectively connected with the third reversing valve and the second oil port of the third hydraulic motor; one of the flow dividing oil ports of the second flow dividing and collecting valve is respectively connected with the fourth reversing valve and the first oil port of the fourth hydraulic motor through the second reversing valve, and the other flow dividing oil port of the second flow dividing and collecting valve is respectively connected with the third reversing valve and the first oil port of the third hydraulic motor; the fifth reversing valve comprises a first oil port connected with the first oil port of the walking control valve, a second oil port connected with the flow dividing oil port of the first flow dividing and collecting valve far away from the first reversing valve, and a third oil port connected with the flow collecting oil port of the first flow dividing and collecting valve; the other fifth reversing valve comprises a first oil port connected with the second oil port of the walking control valve, a second oil port connected with the flow dividing oil port of the second flow dividing and collecting valve far away from the second reversing valve, and a third oil port connected with the flow collecting oil port of the second flow dividing and collecting valve.

Preferably, the hydraulic control system further comprises a sixth reversing valve, a first oil port of the sixth reversing valve is connected to an oil path between the first reversing valve and the fourth hydraulic motor or the pivot steering switching valve, or a first oil port of the sixth reversing valve is connected to an oil path between the second reversing valve and the fourth hydraulic motor or the pivot steering switching valve, and a second oil port of the sixth reversing valve is connected to an oil return port of the traveling control valve through a one-way valve.

Furthermore, check valves are arranged between the second oil port of the sixth reversing valve and the flow dividing oil port of the first flow dividing and collecting valve and between the second oil port of the sixth reversing valve and the flow dividing oil port of the second flow dividing and collecting valve.

Typically, the steering control valve includes a plurality of seventh directional control valves, and each of the seventh directional control valves is connected to the corresponding steering cylinder through a double pilot operated check valve to control extension and retraction of a piston rod of the corresponding steering cylinder.

Specifically, each of the hydraulic motors is a two-speed hydraulic motor.

Specifically, an overflow valve is arranged between the flushing valve and an oil return port of the walking control valve.

A second aspect of the invention provides an aerial work machine comprising a hydraulic drive and steering system as defined in any one of the first aspect.

Through the technical scheme, the two-wheel drive and four-wheel drive switching device can control the switching between two-wheel drive and four-wheel drive by arranging the first reversing valve and the second reversing valve, can effectively improve the running speed, and reduces the energy consumption and the transition time; in addition, the original pivot steering switching valve can enable the wheels on the left side and the wheels on the right side to rotate in opposite directions, and the pivot steering function can be realized, so that the flexibility of the equipment in narrow passages and crowded working areas is improved.

Furthermore, the hydraulic motor is a two-speed hydraulic motor, so that the apparatus can have multiple speeds for adjustment.

Additional features and more prominent advantages of the invention will be set forth in the detailed description which follows.

Drawings

FIG. 1 is a hydraulic schematic diagram of a prior art aerial work machine travel hydraulic system;

FIG. 2 is a hydraulic schematic of a hydraulic drive and steering system according to an embodiment of the present invention;

FIG. 3 is a schematic illustration of the straight travel of an aerial work machine in accordance with an embodiment of the present invention;

FIG. 4 is a schematic illustration of single-axle steering of an aerial work machine in accordance with an embodiment of the present invention;

FIG. 5 is a schematic illustration of dual axle steering of an aerial work machine in accordance with an embodiment of the present invention;

FIG. 6 is a schematic illustration of an aerial work machine crab in an embodiment of the present invention;

FIG. 7 is a schematic illustration of an aerial work machine pivot steering in an embodiment of the present invention.

Description of the reference numerals

1 traveling control valve A first oil port of the traveling control valve

Second oil port of B walking control valve and oil return port of T walking control valve

11 first flow dividing and collecting valve

C1 diversion port of first diversion and collection valve C2 collection port of first diversion and collection valve

12 second flow dividing and collecting valve C3 flow dividing and collecting valve

Flushing valve with collecting port 13 of C4 second flow dividing and collecting valve

14 overflow valve 2 steering control valve

21 seventh reversing valve and 22 double-hydraulic control one-way valve

100 steering oil cylinder 3 pivot steering switching valve

31 third direction changing valve 32 fourth direction changing valve

41 first Hydraulic Motor A1 first Hydraulic Motor first oil Port

B1 second port 42 of first Hydraulic Motor second Hydraulic Motor

First oil port A2 of the second hydraulic motor B2 of the second hydraulic motor

43 third Hydraulic Motor A3 first port of third Hydraulic Motor

B3 second port 44 of third hydraulic motor and fourth hydraulic motor

First port of a4 fourth Hydraulic Motor B4 second port of fourth Hydraulic Motor

5 first direction changing valve 6 second direction changing valve

7 fifth direction valve D1 first port of fifth direction valve

D2 second port of fifth reversing valve D3 third port of fifth reversing valve

8 sixth direction valve D4 first port of sixth direction valve

Second oil port of D5 sixth reversing valve

Detailed Description

The following detailed description of embodiments of the invention refers to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present invention, are given by way of illustration and explanation only, not limitation.

Furthermore, the terms "first", "second", "third", "fourth", "fifth", "sixth", "seventh" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicit indication of the number of technical features indicated, and therefore, the features defined as "first", "second", "third", "fourth", "fifth", "sixth", "seventh" may explicitly or implicitly include one or more of the features described.

In the description of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "disposed" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; either directly or indirectly through intervening media, either internally or in any combination thereof. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

First, it should be noted that, after understanding the technical concept of the hydraulic connection relationship of the present invention, it is also possible for those skilled in the art to simply replace the oil passage or the valve, etc. to realize the functions of the hydraulic drive and steering system of the present invention, and this also belongs to the protection scope of the present invention. The related hydraulic components, such as the directional control valve, the flow dividing and collecting valve, the flushing valve, the check valve, the overflow valve, the motor, the oil cylinder, the hydraulic pump, etc., are well known to those skilled in the art and are common components in the existing hydraulic systems, so that the hydraulic components will be described only briefly hereinafter, and the description will focus on the inventive hydraulic connection relationship of the hydraulic drive and steering system of the present invention.

Fig. 1 shows a walking hydraulic system of an aerial work machine in the prior art, during a walking operation, when hydraulic oil flows in from a first oil port a of a walking control valve 1, the hydraulic oil is divided into four equal parts by a first flow dividing and collecting valve 11 to drive a first hydraulic motor 41, a second hydraulic motor 42, a third hydraulic motor 43 and a fourth hydraulic motor 44 to rotate simultaneously, so that corresponding wheels rotate in one direction, and the device walks in one direction; similarly, when the hydraulic oil flows in from the second oil port B of the travel control valve 1, the corresponding wheel may also be rotated in one direction, and the equipment travels in the other direction opposite to the above-described operation with respect to the first oil port a; the steering control valve 2 is connected to a plurality of steering cylinders 100, and can drive corresponding wheels to steer by the steering cylinders 100. However, the requirement that the steering radius be small at the time of construction in a narrow area cannot be satisfied, and the traveling speed range is limited in the case where the power of the hydraulic system is determined.

In general, the wheels may be divided into a left front wheel, a left rear wheel, a right front wheel and a right rear wheel, and each of the wheels is driven by one hydraulic motor, for example, the first hydraulic motor 41 corresponds to the left front wheel, the second hydraulic motor 42 corresponds to the left rear wheel, the third hydraulic motor 43 corresponds to the right front wheel and the fourth hydraulic motor 44 corresponds to the right rear wheel, or the first hydraulic motor 41 corresponds to the left rear wheel, the second hydraulic motor 42 corresponds to the left front wheel, the third hydraulic motor 43 corresponds to the right rear wheel and the fourth hydraulic motor 44 corresponds to the right front wheel, or the first hydraulic motor 41 corresponds to the right front wheel, the second hydraulic motor 42 corresponds to the right rear wheel, the third hydraulic motor 43 corresponds to the left front wheel and the fourth hydraulic motor 44 corresponds to the left rear wheel, or the first hydraulic motor 41 corresponds to the right rear wheel, the second hydraulic motor 42 corresponds to the right front wheel, A third hydraulic motor 43 for the left rear wheel and a fourth hydraulic motor 44 for the left front wheel, or other equivalent logical correspondence;

in general, the hydraulic driving and steering system of the present invention is based on the traveling hydraulic system of the conventional aerial working machine, and is originally provided with the pivot steering switching valve 3, the first direction switching valve 5, and the second direction switching valve 6, and by the pivot steering switching valve 3, the first hydraulic motor 41, the second hydraulic motor 42, the third hydraulic motor 43, and the fourth hydraulic motor 44 can be made to correspond to the same wheel rotation speed and the same rotation direction, i.e. the wheels corresponding to the first hydraulic motor 41 and the second hydraulic motor 42 roll in the opposite direction to the wheels corresponding to the third hydraulic motor 43 and the fourth hydraulic motor 44, for example, the wheels of the first hydraulic motor 41 and the second hydraulic motor 42 roll forward, meanwhile, the wheels corresponding to the third hydraulic motor 43 and the fourth hydraulic motor 44 roll backwards, so that the pivot steering function of the equipment can be better realized; further, the switching between the two-wheel drive and the four-wheel drive can be performed by switching the first switching valve 5 and the second switching valve 6 to control the interruption or conduction of the hydraulic oil to the second hydraulic motor 42 and the fourth hydraulic motor 44 via the travel control valve 1.

The hydraulic drive and steering system according to the present invention will be described below with reference to specific embodiments.

As shown in fig. 2, the hydraulic driving and steering system according to the basic embodiment of the present invention includes a traveling control valve 1 capable of branching and collecting flow, a plurality of hydraulic motors for driving corresponding wheels, respectively, a steering control valve 2, a plurality of steering cylinders 100 connected to the respective wheels, and a pivot steering switching valve 3, wherein the hydraulic motors are connected to the traveling control valve 1, respectively, so that the traveling control valve 1 can control forward and reverse rotation of the hydraulic motors, and the steering control valve 2 controls the corresponding wheels to steer by the steering cylinders 100; the hydraulic motors are respectively a first hydraulic motor 41, a second hydraulic motor 42, a third hydraulic motor 43 and a fourth hydraulic motor 44; the first port a2 of the second hydraulic motor 42 and the second port B4 of the fourth hydraulic motor 44 are connected to the travel control valve 1 through a first direction switching valve 5, respectively, and the second port B2 of the second hydraulic motor 42 and the first port a4 of the fourth hydraulic motor 44 are connected to the travel control valve 1 through a second direction switching valve 6, respectively, so that switching between two-wheel drive and four-wheel drive can be controlled by reversing the first direction switching valve 5 and the second direction switching valve 6; the second hydraulic motor 42 is connected to the first direction switching valve 5 and the second direction switching valve 6 through the pivot steering switching valve 3, and the first hydraulic motor 41 is connected to the travel control valve 1 through the pivot steering switching valve 3 so as to be able to control the wheels on the left and right sides to rotate in opposite directions.

In general, for the hydraulic system of the overhead working machine in the prior art, the power of the hydraulic system is determined, that is, the maximum flow rate of the hydraulic power source is determined, in the hydraulic driving and steering system according to the basic embodiment of the present invention, during the normal traveling operation, the flow rate output by the hydraulic power source flowing through the traveling control valve 1 can be divided into four equal parts, and the four equal parts are respectively transmitted to the first hydraulic motor 41, the second hydraulic motor 42, the third hydraulic motor 43 and the fourth hydraulic motor 44, so as to drive the corresponding wheels to rotate, thereby performing the mechanical traveling operation; the pivot steering switching valve 3 is originally arranged on the basis of a walking hydraulic system of the aerial working machine in the prior art, the first hydraulic motor 41 and the second hydraulic motor 42 are connected with the walking control valve 1 through the pivot steering switching valve 3 to control the pivot steering switching valve 3 to reverse, so that the rolling directions of wheels corresponding to the first hydraulic motor 41 and the second hydraulic motor 42 are opposite to the rolling directions of wheels corresponding to the third hydraulic motor 43 and the fourth hydraulic motor 44, and thus, the pivot steering function can be better realized by matching the steering control valve 2 with the steering oil cylinder 100 to drive the wheels to rotate, the operation in a narrow area is convenient, and the operation flexibility is improved; further, the first port a2 of the second hydraulic motor 42 and the second port B4 of the fourth hydraulic motor 44 are connected to the travel control valve 1 through the first direction changing valve 5, respectively, the second port B2 of the second hydraulic motor 42 and the first port a4 of the fourth hydraulic motor 44 are connected to the travel control valve 1 through the second direction changing valve 6, respectively, so that the first direction changing valve 5 and the second direction changing valve 6 are simultaneously changed to interrupt the supply of oil to the second hydraulic motor 42 and the fourth hydraulic motor 44, thereby realizing the switching of the four-wheel drive to the two-wheel drive, and, in the case of the same flow rate, the total flow rate is changed from the supply of the four hydraulic motors such as the first hydraulic motor 41, the second hydraulic motor 42, the third hydraulic motor 43, and the fourth hydraulic motor 44 to the supply of the two hydraulic motors such as the first hydraulic motor 41 and the third hydraulic motor 43, so that the traveling speed of the two-wheel drive can be twice the traveling speed of the four-wheel drive, the transition efficiency is improved; generally, four-wheel drive is used in case of climbing, heavy load or requiring low speed, ensuring torque and passing ability; the two-wheel drive is used under the conditions of flat running, small load or high speed requirement, the running speed and the transition efficiency are ensured, and the energy consumption is reduced to a certain extent.

Wherein, the first reversing valve 5 and the second reversing valve 6 can adopt a two-position four-way valve; the first hydraulic motor 41, the second hydraulic motor 42, the third hydraulic motor 43 and the fourth hydraulic motor 44 may be two-speed hydraulic motors, so that the equipment can have a four-gear speed regulation function; further, the displacement of the two-speed hydraulic motor can be controlled by a hydraulic pilot; the steering control valve 2 may be a control valve group composed of a plurality of seventh directional control valves 21, and each seventh directional control valve 21 is connected to the corresponding steering cylinder 100 through a double hydraulic control check valve 22 to control the extension and retraction of the piston rod of the corresponding steering cylinder 100 and control the steering of the corresponding wheel.

It should be noted that, as for hydraulic components such as hydraulic motors, it is known that, in actual manufacturing and use, the oil ports of the hydraulic motor are fixed, that is, when hydraulic oil flows in from one oil port of the hydraulic motor, the output shaft of the hydraulic motor rotates in a certain direction, and when hydraulic oil flows in from the other oil port of the hydraulic motor, the output shaft of the hydraulic motor rotates in a direction opposite to the above direction; therefore, in the embodiment of the present invention, when the hydraulic oil flows in through the first port a1 of the first hydraulic motor 41, the first port a2 of the second hydraulic motor 42, the first port A3 of the third hydraulic motor 43, or the first port a4 of the fourth hydraulic motor 44, the rotation directions of the output shafts of the first, second, third, and fourth hydraulic motors 41, 42, 43, and 44 are the same; similarly, when the hydraulic oil flows in through the second port B1 of the first hydraulic motor 41, the second port B2 of the second hydraulic motor 42, the second port B3 of the third hydraulic motor 43, or the second port B4 of the fourth hydraulic motor 44, the rotation directions of the output shafts of the first, second, third, and fourth hydraulic motors 41, 42, 43, and 44 are the same and opposite to the rotation direction of the output shaft in the case of the first port a1 of the first hydraulic motor 41; in normal four wheel drive operation, the device can be guaranteed to walk forward or backward.

In the embodiment, the pivot steering switching valve 3 includes a third direction changing valve 31 and a fourth direction changing valve 32, the first hydraulic motor 41 is connected to the travel control valve 1 through the third direction changing valve 31, the second hydraulic motor 42 is connected to the first direction changing valve 5 and the second direction changing valve 6 through the fourth direction changing valve 32, respectively, and controls the direction change of the third direction changing valve 31 and the fourth direction changing valve 32, that is, the third direction switching valve 31 and the fourth direction switching valve 32 can be left-hand operated, so that the first hydraulic motor 41, the second hydraulic motor 42, the third hydraulic motor 43, and the fourth hydraulic motor 44 can be operated at the same wheel speed and in the same wheel rotation direction, the wheels corresponding to the first hydraulic motor 41 and the second hydraulic motor 42 have the opposite rolling directions to the wheels corresponding to the third hydraulic motor 43 and the fourth hydraulic motor 44, so that the pivot steering function can be realized by controlling the rotation direction of the corresponding wheels.

Further, the traveling control valve 1 may include a first flow-splitting and collecting valve 11 and two second flow-splitting and collecting valves 12, the flow-collecting port C2 of the first flow-splitting and collecting valve 11 is connected to the first port a of the traveling control valve 1, the flow-collecting ports C4 of the two second flow-splitting and collecting valves 12 are both connected to the second port B of the traveling control valve 1, and the first port a and the second port B of the traveling control valve 1 are connected to a hydraulic power source, for example, a bidirectional fixed displacement hydraulic pump, that is, hydraulic oil is supplied through the first port a and the second port B of the traveling control valve 1, and the traveling directions of the equipment are opposite; the first flow dividing and collecting valve 11 and the second flow dividing and collecting valve 12 are connected in parallel with a throttle valve, so that when steering is performed, the flow on two sides of the first flow dividing and collecting valve 11 and the second flow dividing and collecting valve 12 can be balanced, the rotating speed of the wheels is stable, the flushing valve 13 is arranged between the first oil port A and the second oil port B of the walking control valve 1, and the flushing valve 13 is connected with an oil tank, so that the cooling and filtering effects can be improved; specifically, one branch oil port C1 of the first branch collecting valve 11 is connected to the fourth directional control valve 32 and the second oil port B4 of the fourth hydraulic motor 44 through the first directional control valve 5, and the other branch oil port C1 thereof is connected to the third directional control valve 31 and the second oil port B3 of the third hydraulic motor 43; one second flow dividing and collecting valve 12 is connected to the fourth direction changing valve 32 and the first port a4 of the fourth hydraulic motor 44 through the second direction changing valve 6, and the other second flow dividing and collecting valve 12 is connected to the third direction changing valve 31 and the first port A3 of the third hydraulic motor 43; thus, when the hydraulic oil flows in from the first oil port a of the traveling control valve 1, the hydraulic oil is branched by the first branch flow and collection valve 11, and the hydraulic oil flowing through the first hydraulic motor 41, the second hydraulic motor 42, the third hydraulic motor 43 and the fourth hydraulic motor 44 is collected by the corresponding second branch flow and collection valve 12 and then flows back to the oil tank through the flushing valve 13; similarly, the hydraulic oil flowing from the second port B of the travel control valve 1 drives the first hydraulic motor 41, the second hydraulic motor 42, the third hydraulic motor 43, and the fourth hydraulic motor 44 via the second flow dividing and collecting valve 12, and flows back to the oil tank via the first flow dividing and collecting valve 11 and the flush valve 13, so that the flush valve 13 can assist the return of the oil well; in addition, a fifth reversing valve 7 is also needed to be arranged, the first port D1 of the fifth reversing valve 7 is connected with the first port a of the traveling control valve 1, the second port D2 of the fifth reversing valve 7 is connected with the flow dividing port C1 of the first flow dividing and collecting valve 11 far away from the first reversing valve 5, the third port D3 of the fifth reversing valve 7 is connected with the flow collecting port C2 of the first flow dividing and collecting valve 11, when the second and fourth hydraulic motors 42 and 44 are interrupted from the travel control valve 1 by the first and second direction change valves 5 and 6, the first port D1 of the fifth direction valve 7 is communicated with the second port D2 thereof, so that the first flow dividing and collecting valve 11 can be prevented from being failed, i.e. to prevent that the first hydraulic motor 41 and the third hydraulic motor 43 cannot be supplied with oil via the first flow-dividing collecting valve 11, in the above case, the hydraulic oil introduced from the first port a of the travel control valve 1 is supplied to the first hydraulic motor 41 and the third hydraulic motor 43 through the fifth directional control valve 7.

It should be noted that the travel control valve 1 is not limited to the configuration shown in fig. 2, and various simple modifications may be made. For example, the walking control valve 1 may include two first shunt/current collecting valves 11 and one second shunt/current collecting valve 12, or the walking control valve 1 may include one first shunt/current collecting valve 11 and one second shunt/current collecting valve 12, or the walking control valve 1 may include two first shunt/current collecting valves 11 and two second shunt/current collecting valves 12, etc., or other hydraulic valve groups capable of achieving equivalent functions.

In a specific embodiment, when the traveling control valve 1 includes two first flow-splitting and collecting valves 11 and one second flow-splitting and collecting valve 12, the flow-collecting ports C2 of the two first flow-splitting and collecting valves 11 are both connected to the first port a of the traveling control valve 1, the flow-collecting port C4 of the second flow-splitting and collecting valve 12 is connected to the second port B of the traveling control valve 1, and the first port a and the second port B of the traveling control valve 1 are connected to a hydraulic power source, for example, a bidirectional fixed-displacement hydraulic pump; the first flow dividing and collecting valve 11 and the second flow dividing and collecting valve 12 are connected with the throttle valve in parallel, so that when steering is performed, the flow on two sides of the first flow dividing and collecting valve 11 and the second flow dividing and collecting valve 12 can be balanced, the rotating speed of the wheels is stable, a flushing valve 13 is further arranged between the first oil port A and the second oil port B of the walking control valve 1, and the flushing valve 13 is connected with an oil tank, so that the cooling and filtering effects can be improved; specifically, the two branch oil ports C1 of one first branch and current collecting valve 11 are respectively connected with the fourth reversing valve 32 and the second oil port B4 of the fourth hydraulic motor 44 through the first reversing valve 5, and the two branch oil ports C1 of the other first branch and current collecting valve 11 are respectively connected with the third reversing valve 31 and the second oil port B3 of the third hydraulic motor 43; one branch oil port C3 of the second branch flow and collection valve 12 is connected to the fourth reversing valve 32 and the first oil port a4 of the fourth hydraulic motor 44 through the second reversing valve 6, and the other branch oil port C3 of the second branch flow and collection valve 12 is connected to the third reversing valve 31 and the first oil port A3 of the third hydraulic motor 43; in addition, a fifth reversing valve 7 is also needed to be arranged, the first port D1 of the fifth reversing valve 7 is connected with the second port B of the traveling control valve 1, the second port D2 of the fifth reversing valve 7 is connected with the flow dividing port C3 of the second flow dividing and collecting valve 12 far away from the first reversing valve 5, the third port D3 of the fifth reversing valve 7 is connected with the flow collecting port C4 of the second flow dividing and collecting valve 12, when the second and fourth hydraulic motors 42 and 44 are interrupted from the travel control valve 1 by the first and second direction change valves 5 and 6, the first port D1 of the fifth direction valve 7 is communicated with the second port D2 thereof, so that the second flow dividing and collecting valve 12 can be prevented from being failed, i.e. to prevent that the first hydraulic motor 41 and the third hydraulic motor 43 cannot be supplied with oil through the second combining flow dividing valve 12, in this case, the hydraulic oil that has flowed in from the second port B of the travel control valve 1 can be supplied to the first hydraulic motor 41 and the third hydraulic motor 43 through the fifth directional control valve 7. That is, the above-mentioned technical solution with simple modifications can be obtained by interchanging the structural forms of one first flow-dividing and collecting valve 11 and two second flow-dividing and collecting valves 12 shown in fig. 2.

When the traveling control valve 1 comprises a first flow-dividing and flow-collecting valve 11 and a second flow-dividing and flow-collecting valve 12, the flow-collecting ports C2 of the first flow-dividing and flow-collecting valve 11 are both connected with the first port a of the traveling control valve 1, the flow-collecting ports C4 of the second flow-dividing and flow-collecting valve 12 are both connected with the second port B of the traveling control valve 1, and the first port a and the second port B of the traveling control valve 1 are connected with a hydraulic power source, such as a bidirectional quantitative hydraulic pump; the first flow dividing and collecting valve 11 and the second flow dividing and collecting valve 12 are connected with the throttle valve in parallel, so that when steering operation is performed, the flow on two sides of the first flow dividing and collecting valve 11 and the second flow dividing and collecting valve 12 can be balanced, the rotating speed of the wheels is stable, the flushing valve 13 can be arranged between the first oil port A and the second oil port B of the walking control valve 1, and the flushing valve 13 is connected with an oil tank, so that the cooling and filtering effects can be improved; specifically, one branch oil port C1 of the first branch collecting valve 11 is connected to the fourth directional control valve 32 and the second oil port B4 of the fourth hydraulic motor 44 through the first directional control valve 5, and the other branch oil port C1 thereof is connected to the third directional control valve 31 and the second oil port B3 of the third hydraulic motor 43; one branch oil port C3 of the second branch flow and collection valve 12 is connected to the fourth reversing valve 32 and the first oil port a4 of the fourth hydraulic motor 44 through the second reversing valve 6, and the other branch oil port C3 of the second branch flow and collection valve 12 is connected to the third reversing valve 31 and the first oil port A3 of the third hydraulic motor 43; thus, when the hydraulic oil flows in from the first oil port a of the traveling control valve 1, the hydraulic oil is branched by the first flow dividing and collecting valve 11, and the hydraulic oil flowing through the first hydraulic motor 41, the second hydraulic motor 42, the third hydraulic motor 43 and the fourth hydraulic motor 44 is collected by the second flow dividing and collecting valve 12 and then flows back to the oil tank through the flushing valve 13; similarly, the hydraulic oil flowing from the second port B of the travel control valve 1 drives the first hydraulic motor 41, the second hydraulic motor 42, the third hydraulic motor 43, and the fourth hydraulic motor 44 via the second flow dividing and collecting valve 12, and flows back to the oil tank via the first flow dividing and collecting valve 11 and the flush valve 13, so that the flush valve 13 can assist the return of the oil well; in addition, two fifth reversing valves 7 need to be arranged, a first port D1 of one fifth reversing valve 7 is connected with the first port a of the traveling control valve 1, a second port D2 of the fifth reversing valve 7 is connected with the flow dividing port C1 of the first flow dividing and collecting valve 11, which is far away from the first reversing valve 5, a third port D3 of the fifth reversing valve 7 is connected with the flow collecting port C2 of the first flow dividing and collecting valve 11, a first port D1 of the other fifth reversing valve 7 is connected with the second port B of the traveling control valve 1, a second port D2 of the fifth reversing valve 7 is connected with the flow dividing port C3 of the second flow dividing and collecting valve 12, which is far away from the first reversing valve 5, and a third port D3 of the fifth reversing valve 7 is connected with the flow collecting port C4 of the second flow dividing and collecting valve 12; when the second hydraulic motor 42 and the fourth hydraulic motor 44 are interrupted from the travel control valve 1 by the first and second selector valves 5 and 6, the first port D1 of the fifth selector valve 7 is communicated with the second port D2 thereof, so that the first and second flow-dividing/collecting valves 11 and 12 can be prevented from failing, that is, the first and third hydraulic motors 41 and 43 cannot be supplied with oil via the first and second flow-dividing/collecting valves 11 and 12, and in the above case, the hydraulic oil flowing from the first port a or the second port B of the travel control valve 1 can be supplied to the first and third hydraulic motors 41 and 43 through the fifth selector valve 7.

When the walking control valve 1 comprises two first flow dividing and collecting valves 11 and two second flow dividing and collecting valves 12, in this specific embodiment, the fifth reversing valve 7 may not be provided, and the system structure is optimized; the collecting oil ports C2 of the two first flow-dividing and collecting valves 11 are connected to the first oil port a of the traveling control valve 1, the collecting oil ports C4 of the two second flow-dividing and collecting valves 12 are connected to the second oil port B of the traveling control valve 1, and the first oil port a and the second oil port B of the traveling control valve 1 are connected to a hydraulic power source, such as a bidirectional quantitative hydraulic pump; the first flow dividing and collecting valve 11 and the second flow dividing and collecting valve 12 are connected with the throttle valve in parallel, so that when steering operation is performed, the flow on the two sides of the first flow dividing and collecting valve 11 and the second flow dividing and collecting valve 12 can be balanced, a flushing valve 13 is arranged between the first oil port A and the second oil port B of the walking control valve 1, and the flushing valve 13 is connected with an oil tank, so that the cooling and filtering effects can be improved; specifically, the two branch oil ports C1 of one first branch and current collecting valve 11 are respectively connected with the fourth reversing valve 32 and the second oil port B4 of the fourth hydraulic motor 44 through the first reversing valve 5, and the two branch oil ports C1 of the other first branch and current collecting valve 11 are respectively connected with the third reversing valve 31 and the second oil port B3 of the third hydraulic motor 43; the two branch oil ports C3 of one second branch and current collecting valve 12 are respectively connected with the fourth reversing valve 32 and the first oil port a4 of the fourth hydraulic motor 44 through the second reversing valve 6, and the two branch oil ports C3 of the other second branch and current collecting valve 12 are respectively connected with the third reversing valve 31 and the first oil port A3 of the third hydraulic motor 43; thus, when the hydraulic oil flows in from the first oil port a of the traveling control valve 1, the hydraulic oil is branched by the first branch flow and collection valve 11, and the hydraulic oil flowing through the first hydraulic motor 41, the second hydraulic motor 42, the third hydraulic motor 43 and the fourth hydraulic motor 44 is collected by the corresponding second branch flow and collection valve 12 and then flows back to the oil tank through the flushing valve 13; similarly, the hydraulic oil flowing from the second port B of the travel control valve 1 drives the first hydraulic motor 41, the second hydraulic motor 42, the third hydraulic motor 43, and the fourth hydraulic motor 44 via the second flow dividing/collecting valve 12, and flows back to the oil tank via the first flow dividing/collecting valve 11 and the flush valve 13, and the flush valve 13 can assist the return of the oil well.

The third direction valve 31 and the fourth direction valve 32 may be two-position four-way valves or other hydraulic valves capable of achieving equivalent functions, and the fifth direction valve 7 may be two-position three-way valves or other hydraulic valves capable of achieving equivalent functions. Further, a relief valve 14 may be provided between the flush valve 13 and the return port T of the travel control valve 1.

In a preferred embodiment, a sixth direction-changing valve 8 may be further provided, the first port D4 of the sixth direction-changing valve 8 may be connected to an oil path between the first direction-changing valve 5 and the fourth hydraulic motor 44, or connected to an oil path between the first direction-changing valve 5 and the pivot steering switching valve 3, or connected to an oil path between the second direction-changing valve 6 and the fourth hydraulic motor 44, or connected to an oil path between the second direction-changing valve 6 and the pivot steering switching valve 3, and the second port D5 of the sixth direction-changing valve 8 is connected to the oil return port T of the travel control valve 1 through a check valve. When switching from four-wheel drive to two-wheel drive, the first direction switching valve 5, the second direction switching valve 6, and the sixth direction switching valve 8 are switched together, so that the second hydraulic motor 42 and the fourth hydraulic motor 44 can form a closed circuit.

Further, the second port D5 of the sixth direction valve 8 is further connected to the flow splitting port C1 of the first flow splitting and collecting valve 11 and the flow splitting port C3 of the second flow splitting and collecting valve 12, the second port D5 of the sixth direction valve 8 is connected to the flow splitting port C1 of the first flow splitting and collecting valve 11 in a one-way manner through a check valve, and the second port D5 of the sixth direction valve 8 is connected to the flow splitting port C3 of the second flow splitting and collecting valve 12 in a one-way manner through a check valve.

In addition, in actual operation, there is a problem of leakage of hydraulic components such as a hydraulic motor due to various reasons such as sealing and assembling accuracy, and for this reason, an oil replenishment pump may be provided between the first port a and the second port B of the travel control valve 1 to replenish oil to the system.

It should be noted that the first direction valve 5, the second direction valve 6, the third direction valve 31, the fourth direction valve 32, the fifth direction valve 7, the sixth direction valve 8, the seventh direction valve 21 and other direction valves may be controlled manually, mechanically, electrically, hydraulically, electro-hydraulically and the like, and for convenience of control and operation, the direction valves are preferably electrically controlled.

Referring to fig. 2, the hydraulic driving and steering system according to the preferred embodiment of the present invention includes a traveling control valve 1 capable of dividing and collecting flow, a plurality of hydraulic motors for driving corresponding wheels, respectively, a steering control valve 2, a plurality of steering cylinders 100 connected to the wheels, and a pivot steering switching valve 3, wherein each seventh directional control valve 21 of the steering control valve 2 controls the corresponding steering cylinder 100 through a corresponding double pilot operated check valve 22 to drive the corresponding wheel to steer; each hydraulic motor includes a first hydraulic motor 41, a second hydraulic motor 42, a third hydraulic motor 43, and a fourth hydraulic motor 44, respectively; a first port a4 and a second port B4 of the fourth hydraulic motor 44 are respectively connected with the first reversing valve 5 and the second reversing valve 6, a first port a2 and a second port B2 of the second hydraulic motor 42 are respectively connected with the fourth reversing valve 32 of the pivot steering switching valve 3, the fourth reversing valve 32 is respectively connected with the first reversing valve 5 and the second reversing valve 6, the first reversing valve 5 is connected with one flow splitting port C1 of the first flow splitting and collecting valve 11 of the walking control valve 1, a first port a1 and a second port B1 of the first hydraulic motor 41 are respectively connected with the third reversing valve 31 of the pivot steering switching valve 3, the third reversing valve 31 is respectively connected with the other flow splitting port C1 of the first flow splitting and collecting valve 11 and one flow splitting port C3 of the second flow splitting and collecting valve 12, a first port A3 and a second port B3 of the third hydraulic motor 43 are respectively connected with the other flow splitting port C3 of the second flow splitting and collecting valve 1 of the other flow splitting and collecting valve 12 A flow collecting port C2 of the first flow dividing and collecting valve 11 is connected with a first port A of the walking control valve 1, a fifth reversing valve 7 is further arranged, the fifth reversing valve 7 comprises a first port D1 connected with the first port A of the walking control valve 1, a second port D2 connected with a flow dividing port C1 of the first flow dividing and collecting valve 11, which is far away from the first reversing valve 5, and a third port D3 connected with a flow collecting port C2 of the first flow dividing and collecting valve 11, the second reversing valve 6 is respectively connected with two flow dividing ports C3 of the other second flow dividing and collecting valve 12, the flow collecting ports C4 of the two second flow dividing and collecting valves 12 are both connected with a second port B of the walking control valve 1, and the first flow dividing and collecting valve 11 and the second flow dividing and collecting valve 12 are both connected with a throttling valve in parallel; a first oil port D4 of the sixth reversing valve 8 is connected to an oil path between the second reversing valve 6 and the fourth hydraulic motor 44, a second oil port D5 of the sixth reversing valve 8 is connected to an oil return port T of the traveling control valve 1 through a check valve, check valves are arranged between the second oil port D5 of the sixth reversing valve 8 and the flow dividing oil port C1 of the first flow dividing and collecting valve 11 and the flow dividing oil port C3 of the second flow dividing and collecting valve 12, a flushing valve 13 connected to an oil tank is arranged between the first oil port a and the second oil port B of the traveling control valve 1, and the flushing valve 13 is connected to the oil return port T of the traveling control valve 1 through an overflow valve 14; for convenience of operation, the first direction valve 5, the second direction valve 6, the third direction valve 31 and the fourth direction valve 32 can be normally open type electric control direction valves; during normal operation, hydraulic oil can be introduced from the first oil port a or the second oil port B of the walking control valve 1, and through the first flow dividing and collecting valve 11 and the second flow dividing and collecting valve 12, the steering control valve 2 is controlled at the same time, so that the functions of straight traveling shown in fig. 3, single-axle steering shown in fig. 4, double-axle steering shown in fig. 5, crab traveling shown in fig. 6 and the like can be realized; after controlling the third direction valve 31 and the fourth direction valve 32 to change the direction, the left and right wheels can be controlled to roll in opposite directions, even if the wheels corresponding to the first hydraulic motor 41 and the second hydraulic motor 42 are opposite to the rolling directions of the wheels corresponding to the third hydraulic motor 43 and the fourth hydraulic motor 44, and the steering control valve 2 is controlled to make the wheels inwards deviate as shown in fig. 7, the grounding points of the wheels are on the same circle, and the rolling directions of the wheels are tangent to the circle, so that the pivot steering function is realized; when the first direction valve 5, the second direction valve 6, and the sixth direction valve 8 are shifted together, the oil path between the traveling control valve 1 and the second hydraulic motor 42 and the fourth hydraulic motor 44 is cut off, and the four-wheel drive is switched to the two-wheel drive, and the first hydraulic motor 41, the second hydraulic motor 42, the third hydraulic motor 43, and the fourth hydraulic motor 44 may be two-speed hydraulic motors, thereby having a function of adjusting the four-gear speed.

The aerial work machine of the invention comprises the hydraulic driving and steering system according to any one of the above technical solutions, and therefore has at least all the advantages brought by the technical solutions of the embodiments of the hydraulic driving and steering system.

After the hydraulic drive and steering system is applied to the aerial working machine, the in-situ steering function can be realized, the operation flexibility and the work efficiency of the aerial working machine can be improved, the switching between four-wheel drive and two-wheel drive can be realized, the maximum flow of a hydraulic power source of one device is usually determined, the running speed of the two-wheel drive can reach twice that of the four-wheel drive under the same flow, or under the two-wheel drive mode, the same speed only needs to be half of the flow during the four-wheel drive, the pressure loss of a pipeline can be effectively reduced by reducing the flow, the energy loss and the oil consumption can be reduced, the running speed and the work efficiency can be effectively improved, the transition time can be reduced, and the four-gear speed regulation function is realized.

The above technical solution is mainly described for an aerial work machine, however, it should be understood that the hydraulic drive and steering system of the present invention may also be applied to other devices, as long as the hydraulic drive and steering system can be installed in the hydraulic systems of other devices to realize the pivot steering function and the switching between the two-wheel drive and four-wheel drive functions.

The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited thereto. Within the scope of the technical idea of the invention, numerous simple modifications can be made to the technical solution of the invention, including combinations of the individual specific technical features in any suitable way. The invention is not described in detail in order to avoid unnecessary repetition. Such simple modifications and combinations should be considered within the scope of the present disclosure as well.

Claims

1. The hydraulic driving and steering system is characterized by comprising a walking control valve (1) capable of dividing and collecting flow, a plurality of hydraulic motors used for driving corresponding wheels respectively, a steering control valve (2), a plurality of steering oil cylinders (100) connected with the wheels and a pivot steering switching valve (3), wherein each hydraulic motor is connected with the walking control valve (1) respectively so as to control the forward and reverse rotation of each hydraulic motor through the walking control valve (1), and the steering control valve (2) controls the corresponding wheels to steer through the steering oil cylinders (100);

the hydraulic motors are respectively a first hydraulic motor (41), a second hydraulic motor (42), a third hydraulic motor (43) and a fourth hydraulic motor (44);

a first oil port (A2) of the second hydraulic motor (42) and a second oil port (B4) of the fourth hydraulic motor (44) are respectively connected with the traveling control valve (1) through a first reversing valve (5), and a second oil port (B2) of the second hydraulic motor (42) and a first oil port (A4) of the fourth hydraulic motor (44) are respectively connected with the traveling control valve (1) through a second reversing valve (6), so that the switching between two-wheel drive and four-wheel drive can be controlled through the reversing of the first reversing valve (5) and the second reversing valve (6); and the second hydraulic motor (42) is respectively connected with the first reversing valve (5) and the second reversing valve (6) through the pivot steering switching valve (3), and the first hydraulic motor (41) is connected with the traveling control valve (1) through the pivot steering switching valve (3) so as to be capable of controlling the wheels on the left side and the right side to roll in opposite directions.

2. The hydraulic drive and steering system according to claim 1, wherein the pivot steering switching valve (3) includes a third direction switching valve (31) and a fourth direction switching valve (32), and the third direction switching valve (31) and the fourth direction switching valve (32) are connected to the first hydraulic motor (41) and the second hydraulic motor (42), respectively, in one-to-one correspondence, so that the rotation direction of the corresponding wheel can be controlled by the direction switching of the third direction switching valve (31) and the fourth direction switching valve (32).

3. The hydraulic driving and steering system according to claim 2, further comprising a fifth directional control valve (7), wherein the traveling control valve (1) comprises a first flow dividing and collecting valve (11) connected to the first oil port (a) thereof and two second flow dividing and collecting valves (12) connected to the second oil port (B) thereof, the first flow dividing and collecting valve (11) and the second flow dividing and collecting valves (12) are both connected in parallel with a throttle valve, and a flushing valve (13) connected to an oil tank is arranged between the first oil port (a) and the second oil port (B) of the traveling control valve (1);

one of the branch oil ports (C1) of the first branch and flow collecting valve (11) is respectively connected with the fourth reversing valve (32) and the second oil port (B4) of the fourth hydraulic motor (44) through the first reversing valve (5), and the other branch oil port (C1) is respectively connected with the third reversing valve (31) and the second oil port (B3) of the third hydraulic motor (43); one of the second flow dividing and collecting valves (12) is connected with the fourth reversing valve (32) and the first oil port (A4) of the fourth hydraulic motor (44) through the second reversing valve (6), and the other of the second flow dividing and collecting valves (12) is connected with the third reversing valve (31) and the first oil port (A3) of the third hydraulic motor (43);

the fifth reversing valve (7) comprises a first oil port (D1) connected with the first oil port (A) of the walking control valve (1), a second oil port (D2) connected with a flow dividing oil port (C1) of the first flow dividing and collecting valve (11) far away from the first reversing valve (5), and a third oil port (D3) connected with a flow collecting oil port (C2) of the first flow dividing and collecting valve (11).

4. The hydraulic driving and steering system according to claim 2, further comprising a fifth directional control valve (7), wherein the traveling control valve (1) comprises two first flow dividing and collecting valves (11) connected to the first oil ports (a) thereof and one second flow dividing and collecting valve (B) connected to the second oil ports (B) thereof, the first flow dividing and collecting valve (11) and the second flow dividing and collecting valve (12) are both connected in parallel with a throttle valve, and a flushing valve (13) connected to an oil tank is arranged between the first oil ports (a) and the second oil ports (B) of the traveling control valve (1);

one of the first flow-dividing and collecting valves (11) is connected with the second oil ports (B4) of the fourth reversing valve (32) and the fourth hydraulic motor (44) through the first reversing valve (5), and the other of the first flow-dividing and collecting valves (11) is connected with the second oil ports (B3) of the third reversing valve (31) and the third hydraulic motor (43), respectively; one of the branch oil ports (C3) of the second branch and flow collecting valve (12) is respectively connected with the fourth reversing valve (32) and the first oil port (A4) of the fourth hydraulic motor (44) through the second reversing valve (6), and the other branch oil port (C3) is respectively connected with the third reversing valve (31) and the first oil port (A3) of the third hydraulic motor (43);

the fifth reversing valve (7) comprises a first oil port (D1) connected with the second oil port (B) of the walking control valve (1), a second oil port (D2) connected with a flow dividing oil port (C3) of the second flow dividing and collecting valve (12) far away from the second reversing valve (6), and a third oil port (D3) connected with a flow collecting oil port (C4) of the second flow dividing and collecting valve (12).

5. The hydraulic drive and steering system according to claim 2, wherein the walking control valve (1) comprises two first flow-dividing and collecting valves (11) connected with the first oil ports (A) thereof and two second flow-dividing and collecting valves (12) connected with the second oil ports (B) thereof, the first flow-dividing and collecting valves (11) and the second flow-dividing and collecting valves (12) are both connected with throttle valves in parallel, and a flushing valve (13) connected with an oil tank is arranged between the first oil ports (A) and the second oil ports (B) of the walking control valve (1);

one of the first flow-dividing and collecting valves (11) is connected with the second oil ports (B4) of the fourth reversing valve (32) and the fourth hydraulic motor (44) through the first reversing valve (5), and the other of the first flow-dividing and collecting valves (11) is connected with the second oil ports (B3) of the third reversing valve (31) and the third hydraulic motor (43), respectively; one of the second flow dividing and collecting valves (12) is connected to the fourth direction switching valve (32) and the first port (A4) of the fourth hydraulic motor (44) through the second direction switching valve (6), and the other of the second flow dividing and collecting valves (12) is connected to the third direction switching valve (31) and the first port (A3) of the third hydraulic motor (43).

6. The hydraulic drive and steering system according to claim 2, characterized by comprising two fifth directional valves (7), wherein the traveling control valve (1) comprises a first flow dividing and collecting valve (11) connected with a first oil port (A) of the traveling control valve and a second flow dividing and collecting valve (12) connected with a second oil port (B) of the traveling control valve, the first flow dividing and collecting valve (11) and the second flow dividing and collecting valve (12) are both connected with a throttle valve in parallel, and a flushing valve (13) connected with an oil tank is arranged between the first oil port (A) and the second oil port (B) of the traveling control valve (1);

one of the branch oil ports (C1) of the first branch and flow collecting valve (11) is respectively connected with the fourth reversing valve (32) and the second oil port (B4) of the fourth hydraulic motor (44) through the first reversing valve (5), and the other branch oil port (C1) is respectively connected with the third reversing valve (31) and the second oil port (B3) of the third hydraulic motor (43); one of the branch oil ports (C3) of the second branch and flow collecting valve (12) is respectively connected with the fourth reversing valve (32) and the first oil port (A4) of the fourth hydraulic motor (44) through the second reversing valve (6), and the other branch oil port (C3) is respectively connected with the third reversing valve (31) and the first oil port (A3) of the third hydraulic motor (43);

the fifth reversing valve (7) comprises a first oil port (D1) connected with the first oil port (A) of the walking control valve (1), a second oil port (D2) connected with a flow dividing oil port (C1) of the first flow dividing and collecting valve (11) far away from the first reversing valve (5), and a third oil port (D3) connected with a flow collecting oil port (C2) of the first flow dividing and collecting valve (11); the other fifth reversing valve (7) comprises a first oil port (D1) connected with the second oil port (B) of the walking control valve (1), a second oil port (D2) connected with a flow dividing oil port (C3) of the second flow dividing and collecting valve (12) far away from the second reversing valve (6), and a third oil port (D3) connected with a flow collecting oil port (C4) of the second flow dividing and collecting valve (12).

7. The hydraulic drive and steering system according to any one of claims 1 to 6, further comprising a sixth direction-changing valve (8), wherein the first oil port (D4) of the sixth direction-changing valve (8) is connected to an oil path between the first direction-changing valve (5) and the fourth hydraulic motor (44) or the on-site steering switching valve (3), or the first oil port (D4) of the sixth direction-changing valve (8) is connected to an oil path between the second direction-changing valve (6) and the fourth hydraulic motor (44) or the on-site steering switching valve (3), and the second oil port (D5) of the sixth direction-changing valve (8) is connected to an oil return port (T) of the travel control valve (1) through a check valve.

8. The hydraulic drive and steering system according to claim 7, wherein a check valve is provided between the second port (D5) of the sixth direction valve (8) and the flow dividing port (C1) of the first flow dividing and collecting valve (11) and the flow dividing port (C3) of the second flow dividing and collecting valve (12).

9. The hydraulic drive and steering system according to any one of claims 1 to 6, wherein the steering control valve (2) includes a plurality of seventh direction change valves (21), and each of the seventh direction change valves (21) is connected to the corresponding steering cylinder (100) through a double pilot operated check valve (22) so as to be able to control the extension and retraction of the piston rod of the corresponding steering cylinder (100).

10. The hydraulic drive and steering system according to any one of claims 1 to 6, wherein each of said hydraulic motors is a two-speed hydraulic motor.

11. Hydraulic drive and steering system according to any of claims 3 to 6, characterized in that a spill valve (14) is arranged between the flushing valve (13) and the return opening (T) of the travel control valve (1).

12. An aerial work machine comprising a hydraulic drive and steering system according to any one of claims 1 to 11.