CN210338094U

CN210338094U - Control system of lifting type walking steering box type device

Info

Publication number: CN210338094U
Application number: CN201920969446.3U
Authority: CN
Inventors: 陈允柯; 胡德敏; 李晨伟; 袁玉柱; 王衡; 于百业; 郭维; 张小委
Original assignee: Xuzhou Hailunzhe Special Vehicle Co ltd
Current assignee: Xuzhou Hailunzhe Special Vehicle Co ltd; Xuzhou Handler Special Vehicle Co Ltd
Priority date: 2019-06-25
Filing date: 2019-06-25
Publication date: 2020-04-17
Anticipated expiration: 2029-06-25

Abstract

The utility model discloses a control system of over-and-under type walking turns to box device, it is equipped with to go up and down, turns to, walking control and protection interlocking function, under the linkage mode: the lifting control and the walking control are linked and interlocked, so that the case type device is prevented from reducing the trafficability because the box type device is too low from the ground; because the lifting control and the steering control are interlocked, the steering process is prevented from interfering with the box-type device to damage equipment; because the steering angle is provided with the neutral position sensor, the equipment is prevented from being damaged due to interference with the steering mechanism when the box-type device falls back; in the manual mode: the first motor and the second motor can be directly driven to walk in a manual mode, so that micro-motion in a small range is not limited by a program, and small-range adjustment is realized to meet different working conditions; the control system can control the first motor and the second motor to realize differential rotation, so that the pivot steering in a small range is realized.

Description

Control system of lifting type walking steering box type device

Technical Field

The utility model relates to an electrical control technical field, concretely relates to control system of over-and-under type walking turns to box device.

Background

At present, along with the continuous deepening of urban distribution network transformation in China and the increasing requirements of people on power supply reliability, the distribution network transformation increasingly uses box-type special equipment walking on a non-road surface to improve the trafficability of the box-type special equipment in a narrow road space, the box-type special equipment is moved to an operation site in a short distance, and meanwhile, the occupation of operation equipment on site space is reduced to reduce auxiliary operation time.

The transportation of non-pavement box type special equipment used in the existing power system is generally carried out by adopting a transportation truck, the truck base plate is higher than the ground, the walking equipment is difficult to load and unload, and for some emergency guarantee box type equipment (such as a box type transformer substation and the like), the equipment is required to quickly arrive at a fault place for facilitating emergency guarantee, so that the equipment is required to be loaded and unloaded anywhere and to be moved conveniently in a small range, and therefore, the crawler type box type special equipment with a power system is mostly adopted at present.

At present from box equipment of taking driving system's crawler-type, its driving system generally relies on the engine that self carries, the control system of this type of equipment generally walks around through remote controller control track, when turning to, direction of rotation and speed through control track, the whole that realizes box equipment of crawler-type turns to through turning to with the differential soon, the benefit of this kind of scheme lies in that equipment overall dimension is little, can independently walk, the shortcoming lies in that the track adopts the differential to turn to, it is great to turn to process vibrations, frequently shake to electric power professional equipment and lead to equipment trouble or hidden danger easily, and during long distance transportation, box special equipment of crawler-type needs auxiliary crane or fork truck to load and unload, receive operation site conditions restriction easily. Because the electric power rush-repair can often meet the condition of uneven road surface or water accumulation, the crawler-type box-type special equipment is expected to adjust the ground clearance of the equipment according to the environmental condition to improve the trafficability characteristic and prevent the water accumulation from entering the power equipment, and at present, no box-type equipment capable of realizing lifting self-walking and self-steering exists, so that no control system capable of controlling the lifting self-walking and the steering exists.

SUMMERY OF THE UTILITY MODEL

The technique that exists is not enough to the aforesaid, the utility model aims at providing a control system that over-and-under type walking turned to box device, its realization over-and-under type walking that can be fine turns to box device's lift, walking and steering control problem.

In order to solve the technical problem, the utility model adopts the following technical scheme:

the utility model provides a control system of a lifting type walking steering box type device, which comprises a power supply B, the positive pole of the power supply B is connected with an upper opening of an S10 switch, a lower opening of an S10 switch is respectively connected with upper openings of a power system, a motor system, an S5 switch, an SA1 switch, an S1 switch, an S2 switch, an S3 switch and an S3 switch, the lower opening of the S3 switch is connected with the positive pole of a lifting oil cylinder lifting electromagnetic valve Y3, a normally open point of the SA 3 switch is connected with the positive pole of a coil of a relay K3, a normally closed point of the SA 3 switch is connected with an upper opening of a nine K3 normally closed point, a K3-9 normally open point is respectively connected with an upper opening of a first KS 3, a second KS 3, a seven KS 3 and an eight 72 normally open point of a SQ3 and a height sensor is connected with an upper opening point of a second KS 3, and a SQ3 normally closed point of a height sensor are respectively connected with a first height, the lower ports of SQ1-3 and SQ2-1 are connected with the positive electrode of a lifting oil cylinder lifting electromagnetic valve Y1; the S1 switch lower port is respectively connected with the first system of driver signal contacts and the KS1 coil anode, the S2 switch lower port is respectively connected with the KS2 coil anode and the second system of driver signal contacts, and the S3 switch lower port is connected with the third A1 of driver signal contacts: 3, the lower port of the S4 switch is connected with a driver signal contact four A1: 4, a lower opening of a switch S6 is connected with an upper opening of a middle position sensor SQ3, a lower opening of an SQ3 is connected with a descending electromagnetic valve Y2 of the lifting oil cylinder, a lower opening of a switch S7 is respectively connected with an upper opening of a normally open point five K10-5 and an upper opening of a normally closed point six K10-6 of a relay K10, a lower opening of a K10-5 and a lower opening of a K10-6 are respectively connected with an upper opening of a normally open point two SQ2-2 of a height sensor two SQ2, a lower opening of the SQ2-2 is connected with the positive electrode of a left-turning oil cylinder electromagnetic valve Y3, a lower opening of the K10-6 is also connected with the positive electrode of a coil of the KS7, a lower opening of a switch S7 is respectively connected with an upper opening point seven K7-7 and an upper opening of a normally closed point eight K7-8 of the relay K7, an upper opening of the K7-8 and a lower opening of the K7-8 are respectively connected with a positive electrode of the SQ 7-3, a positive electrode of the SQ 7 and a positive electrode of, lift solenoid valve Y1, drop solenoid valve Y2, left turn cylinder solenoid valve Y3, right turn cylinder solenoid valve Y4, actuator signal contact three a 1: 3 and driver signal contact four a 1: 4 are both connected with the negative pole of the power supply B.

Preferably, the driver signal contact system comprises a normally open point I K10-1 upper port and a normally closed point II K10-2 upper port of a relay K10 which are respectively connected with a forward control S1 switch lower port, the K10-2 lower port is connected with a normally open point I SQ1-1 upper port of a height sensor I SQ1, and the K10-1 lower port and the SQ1-1 lower port are both connected with a driver signal contact I A1: 1 connection, driver signal contact one a 1: 1 is connected to the negative pole of the power supply B.

Preferably, the second driver signal contact system comprises a normally-open three-K10-3 upper port and a normally-closed four-K10-4 upper port of a relay K10, which are respectively connected with the lower port of a switch S2, the lower port of the K10-4 is connected with the normally-open two-SQ 1-2 upper port of a height sensor SQ1, and the lower port of the K10-3 and the lower port of the SQ1-2 are both connected with a second driver signal contact A1: 2 connection, driver signal contact two a 1: 2 is connected to the negative pole of the power supply B.

Preferably, the power system comprises a power unit power supply S9 switch, an upper port of the S9 switch is connected with a lower port of the S10 switch, a lower port of the S9 switch is connected with an input end of a power supply M3, and an output end of the power supply M3 is connected with a negative electrode of a power supply B.

Preferably, the motor system comprises a motor driver A1 connected with the lower port of the S10 switch, the output ends of the motor driver A1 are respectively connected with a first motor M1 and a second motor M2, and the output ends of the first motor M1 and the second motor M2 are both connected with the negative pole of a power supply B.

The beneficial effects of the utility model reside in that: this system is equipped with and goes up and down, turns to, walking control and protection interlocking function, under the linkage mode: the lifting control and the walking control are linked and interlocked, so that the case type device is prevented from reducing the trafficability because the box type device is too low from the ground; because the lifting control and the steering control are interlocked, the steering process is prevented from interfering with the box-type device to damage equipment; because the steering angle is provided with the neutral position sensor, the equipment is prevented from being damaged due to interference with the steering mechanism when the box-type device falls back; in the manual mode: the first motor and the second motor can be directly driven to walk in a manual mode, so that micro-motion in a small range is not limited by a program, and small-range adjustment is realized to meet different working conditions; the control system can control the first motor and the second motor to realize differential rotation, so that the pivot steering in a small range is realized.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a structural diagram of a lifting type walking steering box device provided by the embodiment of the present invention

Fig. 2 is an electrical schematic diagram of a control system of the lifting type walking steering box device provided by the embodiment of the utility model.

Description of reference numerals:

1. the device comprises a cross beam, 2 a front walking bridge, 3 a rear walking bridge, 4 a front wheel, 5 a lifting oil cylinder, 6 a box body, 7 a first motor, 8 a second motor, 9 a left-turning oil cylinder, 10 a right-turning oil cylinder, 11 a crawler walking device, 12 and a connecting block.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

As shown in figure 1, the lifting type walking steering box type device comprises a cross beam 1, wherein one end of the cross beam 1 is fixedly provided with a rear walking bridge 3, two ends of the rear walking bridge 3 are provided with front wheels 4, the other end of the cross beam 1 is rotatably connected with a front walking bridge 2 and is hinged with a left turning oil cylinder 9 and a right turning oil cylinder 10, two ends of the front walking bridge 2 are provided with crawler walking devices 11, the crawler walking devices 11 at two ends are respectively provided with a first motor 7 and a second motor 8 for providing power for the crawler walking devices, the left turning oil cylinder 9 and the right turning oil cylinder 10 are respectively hinged with the crawler walking devices 11 at two ends of the cross beam 1 through two connecting blocks 12, a lifting oil cylinder 5 is arranged on the cross beam 1, a box body 6 is fixed at the top of the lifting oil cylinder 5, an arm support is nested outside the lifting oil cylinder 5, the arm support is externally fixed at the bottom of, a motor driver A1, a power supply M3 and a power unit for providing hydraulic power for the lifting oil cylinder 5 are arranged in the box body 6, and a middle position sensor SQ3 is arranged in the middle of the bottom of the cross beam 1.

As shown in fig. 2, a control system of the lifting walking steering box type device shown in fig. 1 comprises a power supply B, wherein the positive pole of the power supply B is connected with an S10 switch upper port, the S10 switch lower port is respectively connected with the input end of a motor driver a1, a power unit power supply S9 switch, an ascending control S5 switch, a manual/linkage control SA1 switch, a forward control S1 switch, a reverse control S2 switch, a left turning fine tuning control S3 switch, a right turning fine tuning control S4 switch, an ascending control S5 switch, a descending control S6 switch, a left turning control S7 switch and a right turning control S8 switch upper port, the output end of the motor driver a1 is respectively connected with a first motor 7M1 and a second motor 8M2, the power unit power supply S9 switch lower port is connected with a power supply M3, the ascending control S5 switch lower port is connected with the ascending Y1 positive pole SA of a lifting oil cylinder 5, and the manual/linkage control S46 1 switch point is connected with a positive pole coil of a relay 10, the normally closed point of a manual/linkage control SA1 switch is connected with an upper port of a normally closed point nine K10-9 of a relay K10, a lower port of the K10-9 is respectively connected with upper ports of a normally open point one KS1, a normally open point two KS2, a normally open point seven KS7 and a normally open point eight KS8 of an intermediate relay KS, lower ports of KS1 and KS2 are respectively connected with an upper port of a normally closed point three SQ1-3 of a height sensor one SQ1, lower ports of KS7 and KS8 are respectively connected with an upper port of a normally closed point one SQ2-1 of the height sensor two SQ2, and lower ports of SQ1-3 and SQ2-1 are respectively connected with the positive pole of a lifting electromagnetic valve Y1 of a lifting oil cylinder 5; the lower port of a forward control S1 switch is respectively connected with a driver signal contact I system and a KS1 coil anode, the lower port of a backward control S2 switch is respectively connected with a KS2 coil anode and a driver signal contact II system, and the lower port of a left-turning fine-tuning control S3 switch is connected with a driver signal contact III A1: 3, right-turning fine adjustment control S4 switch lower port and driver signal contact four A1: 4, a lower opening of a switch of a descending control S6 is connected with an upper opening of a middle position sensor SQ3, a lower opening of a middle position sensor SQ3 is connected with a descending electromagnetic valve Y2 of the lifting oil cylinder 5, a lower opening of a switch of a left turning control S7 is respectively connected with an upper opening of a normally open point five K10-5 and an upper opening of a normally closed point six K10-6 of a relay K10, a lower opening of K10-5 and a lower opening of K10-6 are respectively connected with an upper opening of a normally open point two SQ2-2 of the SQ2, a lower opening of SQ2-2 is connected with an anode of an electromagnetic valve Y3 of the left turning oil cylinder 8, a lower opening of K10-6 is also connected with an anode of a coil of the KS7, a lower opening of a switch of a right turning control S8 is respectively connected with an upper opening of a normally open point seven-7 and an upper opening of a normally closed point eight-K867-8 of the relay K10, an upper opening of the K10-7 and a lower opening of the normally open point SQ 10-72, a lower opening of the, the lower port of the K10-8 is also connected with the positive pole of a KS8 coil, and a first motor M1, a second motor M2, a power supply M3, an ascending electromagnetic valve Y1, a descending electromagnetic valve Y2, a left-turning oil cylinder electromagnetic valve Y3, a right-turning oil cylinder electromagnetic valve Y4 and a driver signal contact point three A1 are as follows: 3 and driver signal contact four a 1: 4 are both connected with the negative pole of the power supply B.

The driver signal contact first system comprises a normally open point first K10-1 upper port and a normally closed point second K10-2 upper port of a relay K10 which are respectively connected with a forward control S1 switch lower port, the K10-2 lower port is connected with a normally open point first SQ1-1 upper port of a height sensor first SQ1, and the K10-1 lower port and the SQ1-1 lower port are both connected with a driver signal contact first A1: 1 connection, driver signal contact one a 1: 1 is connected to the negative pole of the power supply B.

The second driver signal contact system comprises a relay K10 normally-open point three K10-3 upper port and a normally-closed point four K10-4 upper port which are respectively connected with a back control S2 switch lower port, the lower port of the K10-4 is connected with a normally-open point two SQ1-2 upper port of a height sensor SQ1, and the lower port of the K10-3 and the SQ1-2 lower port are both connected with a second driver signal contact A1: 2 connection, driver signal contact two a 1: 2 is connected to the negative pole of the power supply B.

The working principle is as follows: the power supply B provides power for the whole system, the S10 switch controls the on-off of the power supply of the whole system, and the motor driver A1 controls the forward rotation, the reverse rotation and the differential rotation of the first motor 7M1 and the second motor 8M 2; the power unit power supply S9 switch controls the on-off of the power unit power supply; the manual/coordinated control SA1 switch is used for selection of a manual control mode and a coordinated control mode.

When the manual/linkage control SA1 switch is in a manual control mode, the relay K10 is electrified to act, and the normally open points of all the relays K10 are closed and the normally closed points are opened. When the forward control S1 switch is closed, driver signal contact one a 1: when the motor driver A1 controls the first motor 7M1 and the second motor 8M2 to rotate forward, the walking device moves forward. When the switch of the backward control S2 is closed, the driver signal contact two a 1: when the motor driver A1 is powered on, the first motor 7M1 and the second motor 8M2 are controlled to rotate reversely, and the device is retracted. When the left turn trim control S3 switch is closed, driver signal contact three a 1: when the power is on, the motor driver A1 controls the rotating speed of the first motor 7M1 to be greater than the rotating speed of the second motor 8M2, and the walking direction of the device is finely adjusted to the left. When the right turn trim control S4 switch is closed, driver signal contact four a 1: 4, when power is supplied, the motor driver A1 controls the rotating speed of the first motor 7M1 to be less than that of the second motor 8M2, and the walking direction of the device is finely adjusted to the right. When the switch of the lifting control S5 is closed, the lifting electromagnetic valve Y1 of the lifting oil cylinder 5 is electrified, and the extending end of the lifting oil cylinder 5 extends to lift the box body. When the switch of the descending control S6 is closed, if the device walks in a normal position, the neutral position sensor SQ3 is closed, the descending electromagnetic valve Y2 of the lifting oil cylinder 5 is electrified, the extending end of the lifting oil cylinder 5 contracts, and the box body descends. If the device is not in the normal position, the middle position sensor SQ3 is disconnected, the descending electromagnetic valve Y2 of the lifting oil cylinder 5 is not electrified, and the lifting oil cylinder 5 does not act. When the switch of the left-turn control S7 is closed, if the rising height of the box body 6 is lower than the second height, the second height is the set height of the box body 6 from the ground, the second normally open point SQ2-2 of the second height sensor SQ2 is not closed to be in an open state, and the left-turn oil cylinder 8 does not act; if the rising height of the box body 6 is not lower than the second height, a normally open point II SQ2-2 of a height sensor II SQ2 is closed, the left-turning oil cylinder 8 acts, and the device turns left. When the right-turn control S8 switch is closed, if the box body 6 rises to a height lower than the second height, the normally-open point third SQ2-3 of the second height sensor SQ2 is in an open state, and the right-turn oil cylinder 9 does not act; if the height of the box body 6 is not lower than the second height, a normally-open point three SQ2-3 of a second height sensor SQ2 is closed, the right-turning oil cylinder 9 acts, and the device turns to the right; the lowering operation and the device traveling position are interlocked with each other, and the device traveling steering operation and the raising height of the casing 6 are also interlocked with each other.

When the manual/linkage control SA1 switch is in the linkage control mode, the relay K10 is not electrified, and the normally open points and the normally closed points of all the relays K10 are opened and closed. When the forward control S1 switch is closed, a KS1 coil of the intermediate relay KS is electrified, and a normally open point one KS1 is closed. If the lifting height of the box body 6 is not lower than the first height which is the set height of the box body 6 from the ground, a normally open point of a height sensor-SQ 1-SQ 1-1 closing driver signal contact-A1: when the motor driver A1 controls the first motor 7M1 and the second motor 8M2 to rotate forward, the device moves forward. If the lifting height of the box body 6 is lower than the first height, a normally closed point three SQ1-3 of a height sensor one SQ1 is in a closed state, a lifting electromagnetic valve Y1 of the lifting oil cylinder 5 is electrified, and the extending end of the lifting oil cylinder 5 extends out. When the lifting height of the box body 6 reaches a first height, a normally-closed point three SQ1-3 of a height sensor one SQ1 is disconnected, the lifting electromagnetic valve Y1 of the lifting oil cylinder 5 is de-energized, and the extending end of the lifting oil cylinder 5 stops lifting. Meanwhile, the normally open point of altitude sensor — SQ1 — SQ1-1 closes driver signal contact — a 1: when the motor driver A1 controls the first motor 7M1 and the second motor 8M2 to rotate forward, the device moves forward. When the switch S2 is controlled to be closed, the coil KS2 of the intermediate relay KS is electrified, and a normally open point two KS2 is closed. If the lifting height of the box body 6 is not lower than the first height, a normally open point II SQ1-2 of a height sensor I SQ1 closes a signal contact II A1 of the driver: when the motor driver A1 is powered on, the first motor 7M1 and the second motor 8M2 are controlled to rotate reversely, and the device is retracted. If the lifting height of the box body 6 is lower than the first height, a normally closed point three SQ1-3 of a height sensor one SQ1 is in a closed state, a lifting electromagnetic valve Y1 of the lifting oil cylinder 5 is electrified, and the extending end of the lifting oil cylinder 5 automatically rises. When the lifting height of the box body 6 reaches a first height, a normally closed point three SQ1-3 of a height sensor one SQ1 is disconnected, the lifting electromagnetic valve Y1 of the lifting oil cylinder 5 is de-energized, and the extending end of the lifting oil cylinder 5 stops lifting. Meanwhile, a normally-open point II SQ1-2 of a first height sensor SQ1 closes a signal contact II A1 of the driver: when the motor driver A1 is powered on, the first motor 7M1 and the second motor 8M2 are controlled to rotate reversely, and the device is retracted. When the left-turn control S7 switch is closed, a KS7 coil of the intermediate relay KS is electrified, and a normally open point seven KS7 is closed. If the rising height of the box body 6 is not lower than the second height, a normally open point II SQ2-2 of a second height sensor SQ2 is closed, the electromagnetic valve Y3 of the left-turn oil cylinder 8 is electrified, the left-turn oil cylinder 8 acts, and the device turns left. If the lifting height of the box body 6 is lower than the second height, a normally closed point I SQ2-1 of a second height sensor SQ2 is in a closed state, a lifting electromagnetic valve Y1 of the lifting oil cylinder 5 is electrified, and the extending end of the lifting oil cylinder 5 automatically rises. When the lifting height of the box body 6 reaches the second height, a normally closed point SQ2-1 of a second height sensor SQ2 is disconnected, the lifting electromagnetic valve Y1 of the lifting oil cylinder 5 is de-energized, and the extending end of the lifting oil cylinder 5 stops lifting. Meanwhile, a normally open point II SQ2-2 of the height sensor II SQ2 closes the left-turn oil cylinder 8 electromagnetic valve Y3 to be electrified, the left-turn oil cylinder 8 acts, and the device turns left. When the right turn control S8 switch is closed, a KS8 coil of the intermediate relay KS is energized, and a normally open point eight KS8 is closed. If the lifting height of the box body 6 is not lower than the second height, a normally-open point three SQ2-3 of a second height sensor SQ2 closes the electromagnetic valve Y4 of the right-turn oil cylinder 9 to be electrified, the right-turn oil cylinder 9 acts, and the device turns to the right. If the lifting height of the box body 6 is lower than the second height, a normally closed point I SQ2-1 of a second height sensor SQ2 is in a closed state, a lifting electromagnetic valve Y1 of the lifting oil cylinder 5 is electrified, and the extending end of the lifting oil cylinder 5 automatically rises. When the lifting height of the box body 6 reaches the second height, a normally closed point SQ2-1 of a second height sensor SQ2 is disconnected, the lifting electromagnetic valve Y1 of the lifting oil cylinder 5 is de-energized, and the extending end of the lifting oil cylinder 5 stops lifting. Meanwhile, a normally-open point three SQ2-3 of the second height sensor SQ2 closes the right-turn oil cylinder 9 electromagnetic valve Y4 to be electrified, the right-turn oil cylinder 9 acts, and the device turns to the right. The control principle of the left-turn fine-tuning control switch S3, the right-turn fine-tuning control switch S4, the ascending control switch S5 and the descending control switch S6 in the linkage mode is the same as that in the manual mode, and as can be seen from the above, in the linkage mode, the left fine tuning and the right fine tuning of the walking direction of the device can be directly controlled and are not connected with the walking state of the device. The walking and steering operations are interlocked with the height of the box 6. When walking and steering operations are carried out, if the box body 6 does not reach the corresponding height, the box body 6 can automatically rise; likewise, the box 6 will only be activated if it reaches the corresponding height. In addition, the lowering control and the position of the casing 6 have an interlocking relationship in the same manner.

It will be apparent to those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims and their equivalents, the present invention is also intended to include such modifications and variations.

Claims

1. The utility model provides a control system of box device is turned to in over-and-under type walking which characterized in that: comprises a power supply B, the anode of the power supply B is connected with the upper port of an S10 switch, the lower port of an S10 switch is respectively connected with a power system, a motor system, an S5 switch, an SA1 switch, an S1 switch, an S2 switch and an S3 switch, the lower ports of an S4 switch, an S6 switch, an S7 switch and an S8 switch are connected, the lower port of an S5 switch is connected with the positive electrode of a lifting oil cylinder lifting electromagnetic valve Y1, the normally open point of an SA1 switch is connected with the positive electrode of a coil of a relay K10, the normally closed point of the SA1 switch is connected with the upper ports of a nine K10-9 normally closed point K10, the lower ports of K10-9 are respectively connected with the upper ports of a first normally open point KS1, a second normally open point KS2, a seven KS7 and an eight KS8, the lower ports of KS1 and KS2 are respectively connected with the upper port KS 1-3 normally closed point KS1 of a first height sensor SQ1, the lower ports of KS1 and KS1 are respectively connected with the upper port KS 1-1 normally closed point KS1 of the second height sensor SQ1, and SQ1-1 are respectively connected with the positive electrode of the lifting oil cylinder; the lower port of the S1 switch is respectively connected with the first system of driver signal contacts and the positive electrode of the KS1 coil, and the lower port of the S2 switch is respectively connected with the positive electrode of the KS2 coil and the second system of driver signal contacts;

s3 switch lower port and driver signal contact three a 1: 3, the lower port of the S4 switch is connected with a driver signal contact four A1: 4, a lower opening of a switch S6 is connected with an upper opening of a middle position sensor SQ3, a lower opening of an SQ3 is connected with a descending electromagnetic valve Y2 of the lifting oil cylinder, a lower opening of a switch S7 is respectively connected with an upper opening of a normally open point five K10-5 and an upper opening of a normally closed point six K10-6 of a relay K10, a lower opening of a K10-5 and a lower opening of a K10-6 are respectively connected with an upper opening of a normally open point two SQ2-2 of a height sensor two SQ2, a lower opening of the SQ2-2 is connected with the positive electrode of a left-turning oil cylinder electromagnetic valve Y3, a lower opening of the K10-6 is also connected with the positive electrode of a coil of the KS7, a lower opening of a switch S7 is respectively connected with an upper opening point seven K7-7 and an upper opening of a normally closed point eight K7-8 of the relay K7, an upper opening of the K7-8 and a lower opening of the K7-8 are respectively connected with a positive electrode of the SQ 7-3, a positive electrode of the SQ 7 and a positive electrode of, lift solenoid valve Y1, drop solenoid valve Y2, left turn cylinder solenoid valve Y3, right turn cylinder solenoid valve Y4, actuator signal contact three a 1: 3 and driver signal contact four a 1: 4 are both connected with the negative pole of the power supply B.

2. The control system of an elevating walk-steering box unit as set forth in claim 1, wherein: the driver signal contact system comprises a normally open first K10-1 upper port and a normally closed second K10-2 upper port of a relay K10 which are respectively connected with an S1 switch lower port, the K10-2 lower port is connected with a normally open first SQ1-1 upper port of a height sensor SQ1, and the K10-1 lower port and the SQ1-1 lower port are connected with a driver signal contact A1: 1 connection, driver signal contact one a 1: 1 is connected to the negative pole of the power supply B.

3. The control system of an elevating walk-steering box unit as set forth in claim 1, wherein: the second driver signal contact system comprises a relay K10 normally-open point three K10-3 upper port and a normally-closed point four K10-4 upper port which are respectively connected with the S2 switch lower port, the K10-4 lower port is connected with a normally-open point two SQ1-2 upper port of a height sensor SQ1, and the K10-3 lower port and the SQ1-2 lower port are both connected with a second driver signal contact A1: 2 connection, driver signal contact two a 1: 2 is connected to the negative pole of the power supply B.

4. The control system of an elevating walk-steering box unit as set forth in claim 1, wherein: the power system comprises an S9 switch, an upper port of the S9 switch is connected with a lower port of the S10 switch, a lower port of the S9 switch is connected with an input end of a power supply M3, and an output end of the power supply M3 is connected with a negative electrode of a power supply B.

5. The control system of an elevating walk-steering box unit as set forth in claim 1, wherein: the motor system comprises a motor driver A1 connected with the lower port of an S10 switch, the output end of the motor driver A1 is respectively connected with a first motor M1 and a second motor M2, and the output ends of the first motor M1 and the second motor M2 are both connected with the negative pole of a power supply B.