Hydraulic control system for a mobile platform

Abstract

A kind of mobile platform hydraulic control system, including hydraulic pump station, control module and execution module, the hydraulic pump station, control module and execution module are interconnected by oil return pipeline, oil inlet pipeline, oil control pipeline, oil drain pipeline, hydraulic pump station includes main pump group and spare pump group, control module includes several lift action control main valve, horizontal movement action control main valve and longitudinal movement action control main valve, execution module includes several lift action cylinder, horizontal movement action cylinder and longitudinal movement action cylinder, hydraulic pump station controls several execution modules to carry out corresponding action by several control modules;In application, double pump group can realize the quick response of system, when main pump group fails, spare pump group can be started immediately to ensure normal operation, ensure work efficiency, and the cooperation between action cylinder, high bearing can be realized while moving.Therefore, the present design not only system responds quickly, and system bearing strength is higher.

Description

Technical Field

[0001] This invention relates to a control system, belonging to the field of control technology, and particularly to a hydraulic control system for a mobile platform. Background Technology

[0002] Currently, mobile platforms generally adopt a wheeled motor-driven structure, whose carrying capacity is limited by the load of the support bearings of the drive wheels. Secondly, wheeled mobile platforms have a narrow range of applications and are not suitable for open-pit coal mines, metal mines, or mountainous environments awaiting development. Conventional platform devices generally only have the ability to lift vertically and do not have the ability to move horizontally, which greatly limits their operating conditions and carrying capacity. For platforms with multiple hydraulic cylinders, the synchronization of the cylinder movements is also an important performance indicator.

[0003] Patent application No. 201821518030.1, filed on September 17, 2018, discloses a hydraulic control system for a hydraulic support. This system includes an oil tank and a filter assembly, an oil suction assembly, a first lifting cylinder for driving a first clamping arm, a second lifting cylinder for driving a second clamping arm, first and second lateral movement cylinders for driving the first clamping arm laterally, third and fourth lateral movement cylinders for driving the second clamping arm laterally, first to eighth directional valves, first and second superimposed throttle valves, first and second superimposed hydraulic directional valves, first, second, and third superimposed pressure reducing valves, and an overflow valve. While this system can achieve lifting and lateral movement of the cylinders, it suffers from slow system response, low control precision, and low system load-bearing capacity.

[0004] The information disclosed in this background section is intended only to enhance understanding of the overall background of this application and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to overcome the defects and problems of slow system response, low control accuracy, and low system load-bearing capacity in the existing technology, and to provide a mobile platform hydraulic control system with fast system response, high control accuracy, and high system load-bearing capacity.

[0006] To achieve the above objectives, the technical solution of the present invention is: a hydraulic control system for a mobile platform, the control system comprising a hydraulic pump station, a control module, and an execution module; The P1 port of the hydraulic pump station is connected to the P2 port of the control module, and the P3 port of the hydraulic pump station is connected to the P4 port of the control module; the R1 port of the hydraulic pump station is connected to the R2 port of the control module, and the R3 port of the hydraulic pump station is connected to the R4 port of the control module; the T1 port of the hydraulic pump station is connected to the T2 port of the control module, and the L1 port of the hydraulic pump station is connected to the L2 port of the control module. The T3 port of the control module is connected to the T4 port of the execution module, the A1 port of the control module is connected to the A2 port of the execution module, the B1 port of the control module is connected to the B2 port of the execution module, and the L3 port of the control module is connected to the L4 port of the execution module. The T5 port of the control module is connected to the T6 port of the execution module, the A3 port of the control module is connected to the A4 port of the execution module, and the B3 port of the control module is connected to the B4 port of the execution module.

[0007] The hydraulic pump station includes a hydraulic oil tank, a main pump group, a standby pump group, a cooler, a first pressure oil filter, a second pressure oil filter, a third pressure oil filter, a fourth pressure oil filter, a return oil filter, a first pressure control and detection component, a second pressure control and detection component, a third pressure control and detection component, a fourth pressure control and detection component, and a return oil back pressure valve. The oil inlet S1 of the main pump group and the oil inlet S2 of the standby pump group are both connected to the hydraulic oil tank. The main pump assembly's oil pressure port Y1 is connected to the first oil pressure filter's oil inlet Y2, and the main pump assembly's oil pressure port Y3 is connected to the second oil pressure filter's oil inlet Y4. The oil pressure port Y5 of the standby pump set is connected to the oil inlet Y6 of the third oil pressure filter, and the oil pressure port Y7 of the standby pump set is connected to the oil inlet Y8 of the fourth oil pressure filter. The oil outlet Y9 of the first pressure oil filter is connected to the oil inlet Y10 of the first pressure control and detection component; the oil outlet Y11 of the second pressure oil filter is connected to the oil inlet Y12 of the second pressure control and detection component; the oil outlet Y13 of the third pressure oil filter is connected to the oil inlet Y14 of the third pressure control and detection component; and the oil outlet Y15 of the fourth pressure oil filter is connected to the oil inlet Y16 of the fourth pressure control and detection component. The oil inlet Y10 of the first pressure control detection component is connected to the P2 port of the control module through the P1 port; the oil inlet Y12 of the second pressure control detection component is connected to the R2 port of the control module through the R1 port; the oil inlet Y14 of the third pressure control detection component is connected to the P4 port of the control module through the P3 port; and the oil inlet Y16 of the fourth pressure control detection component is connected to the R4 port of the control module through the R3 port.

[0008] The first pressure control and detection component, the second pressure control and detection component, the third pressure control and detection component, and the fourth pressure control and detection component share a common return oil pipeline connected to the hydraulic oil tank; the return oil pipeline between the fourth pressure control and detection component and the hydraulic oil tank is sequentially connected to a return oil back pressure valve, a cooler, and a return oil filter; the return oil pipeline is connected to the T2 port of the control module through port T1.

[0009] The control module includes a first lifting action control main valve, a second lifting action control main valve, a third lifting action control main valve, a fourth lifting action control main valve, a first lateral movement control main valve, a second lateral movement control main valve, a first longitudinal movement control main valve, and a second longitudinal movement control main valve. The first lifting action control main valve, the second lifting action control main valve, the third lifting action control main valve, the fourth lifting action control main valve, the first lateral movement control main valve, the second lateral movement control main valve, the first longitudinal movement control main valve, and the second longitudinal movement control main valve share a second return oil pipeline, which is connected to the T1 port through the T2 port. The first lifting action control main valve, the second lifting action control main valve, the third lifting action control main valve, the fourth lifting action control main valve, the first lateral movement control main valve, the second lateral movement control main valve, the first longitudinal movement control main valve, and the second longitudinal movement control main valve share a common oil inlet pipeline, which is connected to the P1 port through the P2 port and to the P3 port through the P4 port. The first lifting action control main valve, the second lifting action control main valve, the third lifting action control main valve, the fourth lifting action control main valve, the first lateral movement control main valve, the second lateral movement control main valve, the first longitudinal movement control main valve, and the second longitudinal movement control main valve share a common oil control pipeline, which is connected to the R1 port through the R2 port and to the R3 port through the R4 port. The first lifting action control main valve, the second lifting action control main valve, the third lifting action control main valve, the fourth lifting action control main valve, the first lateral movement control main valve, the second lateral movement control main valve, the first longitudinal movement control main valve, and the second longitudinal movement control main valve share a common oil drain line, which is connected to the L1 port through the L2 port. The L1 port is connected to the hydraulic oil tank.

[0010] The first lifting action control main valve, the second lifting action control main valve, the third lifting action control main valve, the fourth lifting action control main valve, the first lateral movement control main valve, the second lateral movement control main valve, the first longitudinal movement control main valve, and the second longitudinal movement control main valve have the same structure. The first lifting action control main valve includes a control oil shut-off valve, an inlet pressure compensator, an external control electro-hydraulic directional valve, and a shuttle valve; The P5 port of the control oil shut-off valve is connected to the control oil pipeline; the T7 port of the control oil shut-off valve is connected to the connected drain pipeline; and the A5 port of the control oil shut-off valve is connected to the external control electro-hydraulic directional valve. The imported pressure compensator is located on the oil inlet pipeline between the P port and P2 port of the externally controlled electro-hydraulic directional valve. The A port of the externally controlled electro-hydraulic directional valve is connected to the A2 port via the A1 port, the B port of the externally controlled electro-hydraulic directional valve is connected to the B2 port via the B1 port, and the P port of the externally controlled electro-hydraulic directional valve is connected to the second return oil pipeline. The inlet J1 of the shuttle valve is connected to the A port and the B port of the externally controlled electro-hydraulic directional valve, respectively, and the outlet J2 is connected to the inlet pressure compensator.

[0011] The execution module includes a first lifting cylinder, a second lifting cylinder, a third lifting cylinder, a fourth lifting cylinder, a first lateral movement cylinder, a second lateral movement cylinder, a first longitudinal movement cylinder, and a second longitudinal movement cylinder. The first lifting action control main valve corresponds one-to-one with the first lifting action cylinder, the second lifting action control main valve corresponds one-to-one with the second lifting action cylinder, the third lifting action control main valve corresponds one-to-one with the third lifting action cylinder, the fourth lifting action control main valve corresponds one-to-one with the fourth lifting action cylinder, the first lateral movement control main valve corresponds one-to-one with the first lateral movement cylinder, the second lateral movement control main valve corresponds one-to-one with the second lateral movement cylinder, the first longitudinal movement control main valve corresponds one-to-one with the first longitudinal movement cylinder, and the second longitudinal movement control main valve corresponds one-to-one with the second longitudinal movement cylinder.

[0012] The first lifting cylinder, the second lifting cylinder, the third lifting cylinder, and the fourth lifting cylinder have the same structure. The lifting cylinder includes a balance valve, a first safety valve, a second safety valve, a first hydraulic lock, a first check valve, a second check valve, a first unloading valve, a second unloading valve, a lifting cylinder, and a first displacement sensor.

[0013] The lifting cylinder includes a first rod-type chamber and a first rodless chamber; The first rod-type cavity is connected to port B2 through the first rod-type cavity circuit port G1, and the first rodless cavity is connected to port A2 through the first rodless cavity circuit port G2. The first rod-type cavity circuit port G1 is connected to port T4 through the first safety valve, and the first rodless cavity circuit port G2 is connected to port T4 through the second safety valve. The first hydraulic lock is located on the first rod cavity circuit between the first rod cavity circuit port G1 and port B2; The first check valve is connected to the second check valve; the first check valve is located in the first rod-side chamber circuit between the first hydraulic lock and the lifting cylinder, and the second check valve is located in the first rodless chamber circuit opposite to the first check valve. The first unloading valve is connected to the second unloading valve; the first unloading valve is located in the first rod-side circuit between the first check valve and the lifting cylinder, and the second unloading valve is located in the first rodless circuit between the second check valve and the lifting cylinder. The first check valve, the second check valve, the first unloading valve, and the second unloading valve are all connected to port T4; The balance valve is located in the first rodless chamber circuit between the first rodless chamber circuit port G2 and port A2. The oil inlet Q1 of the balance valve is located in the first rod chamber circuit between the first hydraulic lock and port B2. The oil outlet Q2 of the balance valve is connected to port L4, port L4 is connected to port L3, and port L3 is connected to the oil outlet pipeline. The first displacement sensor is located at the top of the lifting cylinder.

[0014] The first horizontal movement cylinder, the second horizontal movement cylinder, the first vertical movement cylinder, and the second vertical movement cylinder have the same structure. The first lateral movement cylinder includes a second hydraulic lock, a third hydraulic lock, a third safety valve, a fourth safety valve, a third check valve, a fourth check valve, a third unloading valve, a fourth unloading valve, a lateral and longitudinal movement cylinder, and a second displacement sensor.

[0015] The transverse and longitudinal displacement hydraulic cylinder includes a second rod-type chamber and a second rodless chamber; The second rod-type cavity is connected to port B4 through the second rod-type cavity circuit port G3, and the second rodless cavity is connected to port A4 through the second rodless cavity circuit port G4. The second rod-type cavity circuit port G3 is connected to port T6 through the third safety valve, and the second rodless cavity circuit port G4 is connected to port T6 through the fourth safety valve. The second hydraulic lock is located on the second rod-mounted cavity circuit between the second rod-mounted cavity circuit port G3 and port B4, and the third hydraulic lock is located on the second rodless cavity circuit between the second rodless cavity circuit port G4 and port A4. The third check valve is connected to the fourth check valve; the third check valve is located in the second rod-side circuit between the second hydraulic lock and the transverse and longitudinal movement cylinder, and the fourth check valve is located in the second rodless circuit opposite to the third check valve. The third unloading valve is connected to the fourth unloading valve; the third unloading valve is located in the second rod-side circuit between the third check valve and the transverse and longitudinal movement cylinder, and the fourth unloading valve is located in the second rodless circuit between the fourth check valve and the transverse and longitudinal movement cylinder. The third check valve, the fourth check valve, the third unloading valve, and the fourth unloading valve are all connected to port T6. The second displacement sensor is located at one end of the horizontal and vertical displacement cylinder.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. This invention discloses a hydraulic control system for a mobile platform, comprising a hydraulic pump station, a control module, and an execution module. The hydraulic pump station, control module, and execution module are interconnected via return oil lines, inlet oil lines, control oil lines, and drain oil lines. The hydraulic pump station includes a main pump group and a standby pump group. The control module includes several lifting action control main valves, lateral movement control main valves, and longitudinal movement control main valves. The execution module includes several lifting action cylinders, lateral movement cylinders, and longitudinal movement cylinders. The hydraulic pump station controls several execution modules to perform corresponding actions through the several control modules. In application, the dual-pump design enables rapid system response. If the main pump group fails, the standby pump group can be immediately activated to ensure normal operation and maintain work efficiency. Furthermore, the coordination between the action cylinders allows for high load-bearing capacity while maintaining mobility. Therefore, this invention not only provides rapid system response but also offers high system load-bearing capacity.

[0017] 2. In the hydraulic control system for a mobile platform of the present invention, the control module is equipped with an externally controlled electro-hydraulic directional valve, and the control circuit is equipped with a control oil cut-off valve to control and isolate the oil source, ensuring that the cylinder will not malfunction even when an erroneous input signal occurs. When fine adjustment of the cylinder is required, the externally controlled electro-hydraulic directional valve can respond quickly, while the control oil cut-off valve can better realize individual control between multiple linked main valves, achieving micro-motion control of a single cylinder. Therefore, the present invention not only has a rapid system response but also high control accuracy.

[0018] 3. In the hydraulic control system of the mobile platform of this invention, the load is borne by several lifting cylinders. By controlling different cylinder strokes, the system can meet the working requirements of different ground heights. Through the cooperation of the lateral movement cylinders, longitudinal movement cylinders, and lifting cylinders, the lateral and longitudinal movement of the load is achieved. The rodless chamber circuit of the cylinders is designed with a balance valve to effectively bear the load; the rod chamber circuit is designed with a hydraulic lock to maintain pressure for a short period. Both the rodless and rod chamber working ports are designed with electromagnetic unloading valves, which can forcibly unload in emergencies to protect the system. Therefore, this invention not only has high system load-bearing capacity but also high safety. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the control system of the present invention.

[0020] Figure 2 This is a system schematic diagram of the hydraulic pump station in this invention.

[0021] Figure 3 This is a system schematic diagram of the control module in this invention.

[0022] Figure 4 This is a system schematic diagram of the execution module in this invention.

[0023] Figure 5 This is a system schematic diagram of the first lifting action control main valve in this invention.

[0024] Figure 6 This is a system schematic diagram of the first lifting action hydraulic cylinder in this invention.

[0025] Figure 7 This is a system schematic diagram of the first transverse motion hydraulic cylinder in this invention.

[0026] In the diagram: Hydraulic pump station 1, hydraulic oil tank 11, main pump group 12, standby pump group 13, cooler 14, first pressure oil filter 15a, second pressure oil filter 15b, third pressure oil filter 15c, fourth pressure oil filter 15d, return oil filter 16, first pressure control and detection component 17a, second pressure control and detection component 17b, third pressure control and detection component 17c, fourth pressure control and detection component 17d, return oil back pressure valve 18, return oil pipeline 19, second return oil pipeline 191, control module 2, and the... Components include: 1. Lifting / lowering action control main valve 21, 2. Control oil shut-off valve 211, 2. Inlet pressure compensator 212, 2. External control electro-hydraulic directional valve 213, 2. Shuttle valve 214, 2. Second lifting / lowering action control main valve 22, 2. Third lifting / lowering action control main valve 23, 2. Fourth lifting / lowering action control main valve 24, 2. First lateral movement control main valve 25, 2. Second lateral movement control main valve 26, 2. First longitudinal movement control main valve 27, 2. Second longitudinal movement control main valve 28, 2. Inlet oil line 29, 2. Control oil line 291, 2. Drain oil line 292, 3. Actuator module 3, First lifting / lowering action. Hydraulic cylinder 31, first displacement sensor 310, balance valve 311, first safety valve 312, second safety valve 313, first hydraulic lock 314, first check valve 315, second check valve 316, first unloading valve 317, second unloading valve 318, lifting cylinder 319, first rod chamber 3191, first rodless chamber 3192, first rod chamber circuit 3193, first rodless chamber circuit 3194, second lifting cylinder 32, third lifting cylinder 33, fourth lifting cylinder 34, first lateral movement cylinder The system includes: hydraulic cylinder 35, second displacement sensor 350, second hydraulic lock 351, third hydraulic lock 352, third safety valve 353, fourth safety valve 354, third check valve 355, fourth check valve 356, third unloading valve 357, fourth unloading valve 358, horizontal and vertical movement cylinder 359, second rod chamber 3591, second rodless chamber 3592, second rod chamber circuit 3593, second rodless chamber circuit 3594, second horizontal movement cylinder 36, first vertical movement cylinder 37, and second vertical movement cylinder 38. Detailed Implementation

[0027] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0028] See Figure 1 — Figure 7 A hydraulic control system for a mobile platform, the control system comprising a hydraulic pump station 1, a control module 2, and an execution module 3; The P1 port of the hydraulic pump station 1 is connected to the P2 port of the control module 2, and the P3 port of the hydraulic pump station 1 is connected to the P4 port of the control module 2; the R1 port of the hydraulic pump station 1 is connected to the R2 port of the control module 2, and the R3 port of the hydraulic pump station 1 is connected to the R4 port of the control module 2; the T1 port of the hydraulic pump station 1 is connected to the T2 port of the control module 2, and the L1 port of the hydraulic pump station 1 is connected to the L2 port of the control module 2. The T3 port of the control module 2 is connected to the T4 port of the execution module 3, the A1 port of the control module 2 is connected to the A2 port of the execution module 3, the B1 port of the control module 2 is connected to the B2 port of the execution module 3, and the L3 port of the control module 2 is connected to the L4 port of the execution module 3. The T5 port of the control module 2 is connected to the T6 port of the execution module 3, the A3 port of the control module 2 is connected to the A4 port of the execution module 3, and the B3 port of the control module 2 is connected to the B4 port of the execution module 3.

[0029] The hydraulic pump station 1 includes a hydraulic oil tank 11, a main pump group 12, a standby pump group 13, a cooler 14, a first pressure oil filter 15a, a second pressure oil filter 15b, a third pressure oil filter 15c, a fourth pressure oil filter 15d, a return oil filter 16, a first pressure control and detection component 17a, a second pressure control and detection component 17b, a third pressure control and detection component 17c, a fourth pressure control and detection component 17d, and a return oil back pressure valve 18. The oil suction port S1 of the main pump group 12 and the oil suction port S2 of the standby pump group 13 are both connected to the hydraulic oil tank 11. The oil pressure port Y1 of the main pump assembly 12 is connected to the oil inlet Y2 of the first oil pressure filter 15a, and the oil pressure port Y3 of the main pump assembly 12 is connected to the oil inlet Y4 of the second oil pressure filter 15b. The oil pressure port Y5 of the standby pump group 13 is connected to the oil inlet Y6 of the third oil pressure filter 15c, and the oil pressure port Y7 of the standby pump group 13 is connected to the oil inlet Y8 of the fourth oil pressure filter 15d. The oil outlet Y9 of the first pressure oil filter 15a is connected to the oil inlet Y10 of the first pressure control and detection component 17a; the oil outlet Y11 of the second pressure oil filter 15b is connected to the oil inlet Y12 of the second pressure control and detection component 17b; the oil outlet Y13 of the third pressure oil filter 15c is connected to the oil inlet Y14 of the third pressure control and detection component 17c; and the oil outlet Y15 of the fourth pressure oil filter 15d is connected to the oil inlet Y16 of the fourth pressure control and detection component 17d. The oil inlet Y10 of the first pressure control detection component 17a is connected to the P2 port of the control module 2 via the P1 port; the oil inlet Y12 of the second pressure control detection component 17b is connected to the R2 port of the control module 2 via the R1 port; the oil inlet Y14 of the third pressure control detection component 17c is connected to the P4 port of the control module 2 via the P3 port; and the oil inlet Y16 of the fourth pressure control detection component 17d is connected to the R4 port of the control module 2 via the R3 port.

[0030] The first pressure control detection component 17a, the second pressure control detection component 17b, the third pressure control detection component 17c, and the fourth pressure control detection component 17d share a return oil pipeline 19 connected to the hydraulic oil tank 11; the return oil pipeline 19 between the fourth pressure control detection component 17d and the hydraulic oil tank 11 is sequentially connected to a return oil back pressure valve 18, a cooler 14, and a return oil filter 16; the return oil pipeline 19 is connected to the control module 2 via port T1.

[0031] The control module 2 includes a first lifting action control main valve 21, a second lifting action control main valve 22, a third lifting action control main valve 23, a fourth lifting action control main valve 24, a first lateral movement control main valve 25, a second lateral movement control main valve 26, a first longitudinal movement control main valve 27, and a second longitudinal movement control main valve 28. The first lifting action control main valve 21, the second lifting action control main valve 22, the third lifting action control main valve 23, the fourth lifting action control main valve 24, the first lateral movement control main valve 25, the second lateral movement control main valve 26, the first longitudinal movement control main valve 27, and the second longitudinal movement control main valve 28 share a second return oil pipeline 191, which is connected to the T1 port through the T2 port. The first lifting action control main valve 21, the second lifting action control main valve 22, the third lifting action control main valve 23, the fourth lifting action control main valve 24, the first lateral movement control main valve 25, the second lateral movement control main valve 26, the first longitudinal movement control main valve 27, and the second longitudinal movement control main valve 28 share a common oil inlet pipeline 29, which is connected to the P1 port through the P2 port and to the P3 port through the P4 port; The first lifting action control main valve 21, the second lifting action control main valve 22, the third lifting action control main valve 23, the fourth lifting action control main valve 24, the first lateral movement control main valve 25, the second lateral movement control main valve 26, the first longitudinal movement control main valve 27, and the second longitudinal movement control main valve 28 share a common oil control pipeline 291, which is connected to the R1 port through the R2 port and to the R3 port through the R4 port. The first lifting action control main valve 21, the second lifting action control main valve 22, the third lifting action control main valve 23, the fourth lifting action control main valve 24, the first lateral movement control main valve 25, the second lateral movement control main valve 26, the first longitudinal movement control main valve 27, and the second longitudinal movement control main valve 28 share a common oil drain line 292, which is connected to the L1 port through the L2 port. The L1 port is connected to the hydraulic oil tank 11.

[0032] The first lifting action control main valve 21, the second lifting action control main valve 22, the third lifting action control main valve 23, the fourth lifting action control main valve 24, the first lateral movement control main valve 25, the second lateral movement control main valve 26, the first longitudinal movement control main valve 27, and the second longitudinal movement control main valve 28 have the same structure. The first lifting action control main valve 21 includes a control oil shut-off valve 211, an inlet pressure compensator 212, an external control electro-hydraulic directional valve 213, and a shuttle valve 214. The P5 port of the control oil shut-off valve 211 is connected to the control oil pipeline 291; the T7 port of the control oil shut-off valve 211 is connected to the connected drain pipeline 292; and the A5 port of the control oil shut-off valve 211 is connected to the external control electro-hydraulic directional valve 213. The inlet pressure compensator 212 is located on the oil inlet pipeline 29 between the P port and the P2 port of the external control electro-hydraulic directional valve 213; The A port of the externally controlled electro-hydraulic directional valve 213 is connected to the A2 port via the A1 port, the B port of the externally controlled electro-hydraulic directional valve 213 is connected to the B2 port via the B1 port, and the P port of the externally controlled electro-hydraulic directional valve 213 is connected to the second return oil pipeline 191. The oil inlet J1 of the shuttle valve 214 is connected to the A port and the B port of the external control electro-hydraulic directional valve 213, respectively, and the oil outlet J2 is connected to the inlet pressure compensator 212.

[0033] The execution module 3 includes a first lifting cylinder 31, a second lifting cylinder 32, a third lifting cylinder 33, a fourth lifting cylinder 34, a first horizontal movement cylinder 35, a second horizontal movement cylinder 36, a first vertical movement cylinder 37, and a second vertical movement cylinder 38. The first lifting action control main valve 21 corresponds one-to-one with the first lifting action cylinder 31, the second lifting action control main valve 22 corresponds to the second lifting action cylinder 32, the third lifting action control main valve 23 corresponds to the third lifting action cylinder 33, the fourth lifting action control main valve 24 corresponds to the fourth lifting action cylinder 34, the first lateral movement control main valve 25 corresponds to the first lateral movement cylinder 35, the second lateral movement control main valve 26 corresponds to the second lateral movement cylinder 36, the first longitudinal movement control main valve 27 corresponds to the first longitudinal movement cylinder 37, and the second longitudinal movement control main valve 28 corresponds to the second longitudinal movement cylinder 38.

[0034] The first lifting cylinder 31, the second lifting cylinder 32, the third lifting cylinder 33, and the fourth lifting cylinder 34 have the same structure. The lifting cylinder 31 includes a balance valve 311, a first safety valve 312, a second safety valve 313, a first hydraulic lock 314, a first check valve 315, a second check valve 316, a first unloading valve 317, a second unloading valve 318, a lifting cylinder 319, and a first displacement sensor 310.

[0035] The lifting cylinder 319 includes a first rod chamber 3191 and a first rodless chamber 3192; The first rod-type cavity 3191 is connected to port B2 through the first rod-type cavity circuit port G1, and the first rodless cavity 3192 is connected to port A2 through the first rodless cavity circuit port G2. The first rod-type cavity circuit port G1 is connected to port T4 through the first safety valve 312, and the first rodless cavity circuit port G2 is connected to port T4 through the second safety valve 313. The first hydraulic lock 314 is located on the first rod cavity circuit 3193 between the first rod cavity circuit port G1 and port B2; The first check valve 315 is connected to the second check valve 316; the first check valve 315 is located on the first rod-side circuit 3193 between the first hydraulic lock 314 and the lifting cylinder 319, and the second check valve 316 is located on the first rodless circuit 3194 opposite to the first check valve 315. The first unloading valve 317 is connected to the second unloading valve 318; the first unloading valve 317 is located on the first rod-side circuit 3193 between the first check valve 315 and the lifting cylinder 319, and the second unloading valve 318 is located on the first rodless circuit 3194 between the second check valve 316 and the lifting cylinder 319. The first check valve 315, the second check valve 316, the first unloading valve 317, and the second unloading valve 318 are all connected to port T4; The balance valve 311 is located on the first rodless chamber circuit 3194 between the first rodless chamber circuit port G2 and port A2. The oil inlet Q1 of the balance valve 311 is located on the first rod chamber circuit 3193 between the first hydraulic lock 314 and port B2. The oil outlet Q2 of the balance valve 311 is connected to port L4, port L4 is connected to port L3, and port L3 is connected to the oil outlet pipeline 292. The first displacement sensor 310 is located at the top of the lifting cylinder 319.

[0036] The first transverse movement cylinder 35, the second transverse movement cylinder 36, the first longitudinal movement cylinder 37, and the second longitudinal movement cylinder 38 have the same structure. The first lateral movement cylinder 35 includes a second hydraulic lock 351, a third hydraulic lock 352, a third safety valve 353, a fourth safety valve 354, a third check valve 355, a fourth check valve 356, a third unloading valve 357, a fourth unloading valve 358, a lateral and longitudinal movement cylinder 359, and a second displacement sensor 350.

[0037] The transverse and longitudinal displacement cylinder 359 includes a second rod-type chamber 3591 and a second rodless chamber 3592; The second rod-type cavity 3591 is connected to port B4 through the second rod-type cavity circuit port G3, and the second rodless cavity 3592 is connected to port A4 through the second rodless cavity circuit port G4. The second rod-type cavity circuit port G3 is connected to port T6 through the third safety valve 353, and the second rodless cavity circuit port G4 is connected to port T6 through the fourth safety valve 354. The second hydraulic lock 351 is located on the second rod-type cavity circuit 3593 between the second rod-type cavity circuit port G3 and port B4, and the third hydraulic lock 352 is located on the second rodless cavity circuit 3594 between the second rodless cavity circuit port G4 and port A4. The third check valve 355 is connected to the fourth check valve 356; the third check valve 355 is located on the second rod-side circuit 3593 between the second hydraulic lock 351 and the horizontal and vertical movement cylinder 359, and the fourth check valve 356 is located on the second rodless circuit 3594 opposite to the third check valve 355. The third unloading valve 357 is connected to the fourth unloading valve 358; the third unloading valve 357 is located on the second rod-side circuit 3593 between the third check valve 355 and the transverse and longitudinal movement cylinder 359, and the fourth unloading valve 358 is located on the second rodless circuit 3594 between the fourth check valve 356 and the transverse and longitudinal movement cylinder 359. The third check valve 355, the fourth check valve 356, the third unloading valve 357, and the fourth unloading valve 358 are all connected to port T6. The second displacement sensor 350 is located at one end of the horizontal and vertical displacement cylinder 359.

[0038] The principle of this invention is explained as follows: The platform movement control system achieves the following: First, electromagnets DT2, DT4, DT6, and DT8 in control module 2 are simultaneously energized, causing oil to enter the rodless chamber of the lifting cylinder in execution module 3, lifting the platform. Then, electromagnets DT2, DT4, DT6, and DT8 are simultaneously de-energized, while electromagnets DT10 and DT12 are simultaneously energized, causing oil to enter the rodless chamber of the lateral movement cylinder in execution module 3, moving the platform to the right. Next, electromagnets DT10 and DT12 are simultaneously de-energized, while electromagnets DT1, DT3, DT5, and DT7 are simultaneously energized, causing oil to enter the rod chamber of the lifting cylinder in execution module 3, retracting the lifting cylinder and lowering the platform. Finally, electromagnets DT1 / DT3 / DT5 / DT7 are simultaneously de-energized, while electromagnets DT9 and DT11 are simultaneously energized, causing oil to enter the rod chamber of the lateral movement cylinder, moving the lower platform to the right, completing the movement.

[0039] Example 1: See Figure 1 — Figure 7 A hydraulic control system for a mobile platform includes a hydraulic pump station 1, a control module 2, and an execution module 3. The P1 port of the hydraulic pump station 1 is connected to the P2 port of the control module 2, and the P3 port of the hydraulic pump station 1 is connected to the P4 port of the control module 2. The R1 port of the hydraulic pump station 1 is connected to the R2 port of the control module 2, and the R3 port of the hydraulic pump station 1 is connected to the R4 port of the control module 2. The T1 port of the hydraulic pump station 1 is connected to the T2 port of the control module 2, and the L1 port of the hydraulic pump station 1 is connected to the control module 3. The L2 port of the control module 2 is connected to the T3 port of the execution module 3; the A1 port of the control module 2 is connected to the A2 port of the execution module 3; the B1 port of the control module 2 is connected to the B2 port of the execution module 3; the L3 port of the control module 2 is connected to the L4 port of the execution module 3; the T5 port of the control module 2 is connected to the T6 port of the execution module 3; the A3 port of the control module 2 is connected to the A4 port of the execution module 3; and the B3 port of the control module 2 is connected to the B4 port of the execution module 3.

[0040] In application, hydraulic pump station 1 connects to ports P1 and P3, and then to ports P2 and P4 to operate the hydraulic system, supplying oil to control module 2. Control module 2 then supplies oil to execution module 3 via ports A1, B1, A3, and B3, respectively, for supplying oil. Execution module 3 supplies oil to control module 2 via ports T4 and T6, and then back to hydraulic pump station 1 via control module 2's T2 port. Control module 2 controls oil flow via ports R2 and R4, and then to ports R1 and R3. Execution module 3 discharges oil via port L4 to port L3, and then back to hydraulic pump station 1 via control module 2's L2 port, thus achieving hydraulic control of the entire system's hydraulic circuit. The oil circuit's operating path can be unidirectional or bidirectional, depending on the system control implementation.

[0041] Example 2: The basic content is the same as in Example 1, except that: The hydraulic pump station 1 includes a hydraulic oil tank 11, a main pump group 12, a standby pump group 13, a cooler 14, a first pressure oil filter 15a, a second pressure oil filter 15b, a third pressure oil filter 15c, a fourth pressure oil filter 15d, a return oil filter 16, a first pressure control and detection component 17a, a second pressure control and detection component 17b, a third pressure control and detection component 17c, a fourth pressure control and detection component 17d, and a return oil back pressure valve 18; the oil inlet S1 of the main pump group 12 and the oil inlet S2 of the standby pump group 13 are both connected to the hydraulic oil tank 11; the oil inlet Y1 of the main pump group 12 is connected to... The oil inlet Y2 of the first pressure oil filter 15a is connected; the oil inlet Y3 of the main pump assembly 12 is connected to the oil inlet Y4 of the second pressure oil filter 15b; the oil inlet Y5 of the standby pump assembly 13 is connected to the oil inlet Y6 of the third pressure oil filter 15c; the oil inlet Y7 of the standby pump assembly 13 is connected to the oil inlet Y8 of the fourth pressure oil filter 15d; the oil outlet Y9 of the first pressure oil filter 15a is connected to the oil inlet Y10 of the first pressure control and detection assembly 17a; the oil outlet Y11 of the second pressure oil filter 15b is connected to the oil inlet Y12 of the second pressure control and detection assembly 17b. The oil outlet Y13 of the third pressure oil filter 15c is connected to the oil inlet Y14 of the third pressure control and detection component 17c, and the oil outlet Y15 of the fourth pressure oil filter 15d is connected to the oil inlet Y16 of the fourth pressure control and detection component 17d; the oil inlet Y10 of the first pressure control and detection component 17a is connected to the P2 port of the control module 2 via port P1, the oil inlet Y12 of the second pressure control and detection component 17b is connected to the R2 port of the control module 2 via port R1, and the oil inlet Y14 of the third pressure control and detection component 17c is connected to the P4 port of the control module 2 via port P3. The oil inlet Y16 of the fourth pressure control and detection component 17d is connected to the R4 port of the control module 2 via port R3; the first pressure control and detection component 17a, the second pressure control and detection component 17b, the third pressure control and detection component 17c, and the fourth pressure control and detection component 17d share a return oil pipeline 19 connected to the hydraulic oil tank 11; a return oil back pressure valve 18, a cooler 14, and a return oil filter 16 are sequentially connected to the return oil pipeline 19 between the fourth pressure control and detection component 17d and the hydraulic oil tank 11; the return oil pipeline 19 is connected to the T2 port of the control module 2 via port T1.

[0042] Preferably, both the main pump group 12 and the standby pump group 13 are constant pressure variable pumps connected in series by a motor.

[0043] In the application, the main pump group 12 and the standby pump group 13 are connected to the control system 2 through ports P1, P2, R1, and R2, respectively. The dual pump group setup can first meet the system's rapid response, and at the same time, the first pressure control detection component 17a, the second pressure control detection component 17b, the third pressure control detection component 17c, and the fourth pressure control detection component 17d can monitor the pump's working pressure in real time. If the working pressure of the main pump group 12 is found to be lower than the normal working pressure, the standby pump group 13 will be started to drive the system immediately; if the working pressure is found to be higher than the normal working pressure, the system will be stopped immediately.

[0044] Example 3: The basic content is the same as in Example 2, except that: The control module 2 includes a first lifting action control main valve 21, a second lifting action control main valve 22, a third lifting action control main valve 23, a fourth lifting action control main valve 24, a first lateral movement control main valve 25, a second lateral movement control main valve 26, a first longitudinal movement control main valve 27, and a second longitudinal movement control main valve 28. The first lifting action control main valve 21, the second lifting action control main valve 22, the third lifting action control main valve 23, the fourth lifting action control main valve 24, the first lateral movement control main valve 25, the second lateral movement control main valve 26, the first longitudinal movement control main valve 27, and the second longitudinal movement control main valve 28 share a second return oil pipeline 191, which connects to the T2 port. Connected to port T1; the first lifting action control main valve 21, the second lifting action control main valve 22, the third lifting action control main valve 23, the fourth lifting action control main valve 24, the first lateral movement control main valve 25, the second lateral movement control main valve 26, the first longitudinal movement control main valve 27, and the second longitudinal movement control main valve 28 share a common oil inlet pipe 29, connected to port P1 via port P2 and to port P3 via port P4 ... port P3; the first lifting action control main valve 21, the second lifting action control main valve 22, the third lifting action control main valve 23, the fourth lifting action control main valve 24, the first lateral movement control main valve 25, the second lateral movement control main valve 26, the first longitudinal movement control main valve 27, and the second longitudinal movement control main valve 28 share a common oil inlet pipe 29, connected to port P1 via port P2 and port P3; the first lifting action control main valve 21, the second lifting action control main valve 22, the third lifting action control main valve 23, the The two longitudinal movement control main valves 28 share a common oil control line 291, connected to R1 via port R2 and to R3 via port R4; the first lifting movement control main valve 21, the second lifting movement control main valve 22, the third lifting movement control main valve 23, the fourth lifting movement control main valve 24, the first lateral movement control main valve 25, the second lateral movement control main valve 26, the first longitudinal movement control main valve 27, and the second longitudinal movement control main valve 28 share a common drain line 292, connected to L1 via port L2, with port L1 connected to the hydraulic oil tank 11; the first lifting movement control main valve 21, the second lifting movement control main valve 22, the third lifting movement control main valve 23, and the fourth lifting movement control main valve 28 share a common drain line 292, connected to L1 via port L2, with port L1 connected to the hydraulic oil tank 11; the first lifting movement control main valve 21, the second lifting movement control main valve 22, the third lifting movement control main valve 23, and the fourth lifting movement control main valve 28 share a common drain line 292, connected to L1 via port L2 and to R1 via port L1. 24. The first lateral movement control main valve 25, the second lateral movement control main valve 26, the first longitudinal movement control main valve 27, and the second longitudinal movement control main valve 28 have the same structure; the first lifting action control main valve 21 includes a control oil shut-off valve 211, an inlet pressure compensator 212, an external control electro-hydraulic directional valve 213, and a shuttle valve 214; the P5 port of the control oil shut-off valve 211 is connected to the control oil pipeline 291; the T7 port of the control oil shut-off valve 211 is connected to the connected drain pipeline 292; the A5 port of the control oil shut-off valve 211 is connected to the external control electro-hydraulic directional valve 213; the inlet pressure compensator 212 is located on the inlet pipeline 29 between the P port and the P2 port of the external control electro-hydraulic directional valve 213;The A port of the externally controlled electro-hydraulic directional valve 213 is connected to the A2 port via the A1 port; the B port of the externally controlled electro-hydraulic directional valve 213 is connected to the B2 port via the B1 port; and the P port of the externally controlled electro-hydraulic directional valve 213 is connected to the second return oil pipeline 191. The inlet J1 of the shuttle valve 214 is connected to both the A and B ports of the externally controlled electro-hydraulic directional valve 213, and the outlet J2 is connected to the inlet pressure compensator 212.

[0045] In application, when the control system performs control, taking the first lifting action control main valve 21 as an example, hydraulic oil enters the P2 port through the P1 port of the hydraulic pump station 1, and then first enters the inlet pressure compensator 212 of the lifting action control main valve 21, energizing the electromagnet DT2.1 on the control oil cut-off valve 211. The control oil enters the R2 port through the R1 port of the hydraulic pump station 1, and then enters the pilot control chamber of the external control electro-hydraulic directional valve 213. The electromagnet DT1 or electromagnet DT2 of the external control electro-hydraulic directional valve 213 is energized, controlling the execution module 3 to perform the corresponding action.

[0046] Example 4: The basic content is the same as in Example 3, except that: The execution module 3 includes a first lifting cylinder 31, a second lifting cylinder 32, a third lifting cylinder 33, a fourth lifting cylinder 34, a first lateral movement cylinder 35, a second lateral movement cylinder 36, a first longitudinal movement cylinder 37, and a second longitudinal movement cylinder 38; a first lifting action control main valve 21 connected to the first lifting cylinder 31, a second lifting action control main valve 22 connected to the second lifting cylinder 32, a third lifting action control main valve 23 connected to the third lifting cylinder 33, a fourth lifting action control main valve 24 connected to the fourth lifting cylinder 34, a first lateral movement control main valve 25 connected to the first lateral movement cylinder 35, a second lateral movement cylinder 38, and a third lateral movement cylinder 39 connected to the fourth lateral movement cylinder 30. The main control valve 26 corresponds one-to-one with the second horizontal movement cylinder 36, the main control valve 27 corresponds one-to-one with the first vertical movement cylinder 37, and the main control valve 28 corresponds one-to-one with the second vertical movement cylinder 38; the first lifting cylinder 31, the second lifting cylinder 32, the third lifting cylinder 33, and the fourth lifting cylinder 34 have the same structure; the lifting cylinder 31 includes a balance valve 311, a first safety valve 312, a second safety valve 313, a first hydraulic lock 314, a first check valve 315, a second check valve 316, a first unloading valve 317, a second unloading valve 318, a lifting cylinder 319, and a first displacement sensor 310; The lifting cylinder 319 includes a first rod chamber 3191 and a first rodless chamber 3192; the first rod chamber 3191 is connected to port B2 through a first rod chamber circuit port G1, and the first rodless chamber 3192 is connected to port A2 through a first rodless chamber circuit port G2; the first rod chamber circuit port G1 is connected to port T4 through a first safety valve 312, and the first rodless chamber circuit port G2 is connected to port T4 through a second safety valve 313; the first hydraulic lock 314 is located on the first rod chamber circuit 3193 between the first rod chamber circuit port G1 and port B2; the first check valve 315 is connected to the second check valve 316; the first check valve 315 is positioned... On the first rod-side circuit 3193 between the first hydraulic lock 314 and the lifting cylinder 319, the second check valve 316 is located on the first rodless circuit 3194 opposite to the first check valve 315; the first unloading valve 317 is connected to the second unloading valve 318; the first unloading valve 317 is located on the first rod-side circuit 3193 between the first check valve 315 and the lifting cylinder 319, and the second unloading valve 318 is located on the first rodless circuit 3194 between the second check valve 316 and the lifting cylinder 319; the first check valve 315, the second check valve 316, the first unloading valve 317, and the second unloading valve 318 are all connected to port T4;The balance valve 311 is located on the first rodless chamber circuit 3194 between the first rodless chamber circuit port G2 and port A2. The oil inlet Q1 of the balance valve 311 is located on the first rod chamber circuit 3193 between the first hydraulic lock 314 and port B2. The oil outlet Q2 of the balance valve 311 is connected to port L4, port L4 is connected to port L3, and port L3 is connected to the oil outlet pipe 292. The first displacement sensor 310 is located at the top of the lifting cylinder 319.

[0047] In application, when the control system performs control, taking the first lifting action cylinder 31 as an example, hydraulic oil enters the P2 port through the P1 port of the hydraulic pump station 1, and then first enters the inlet pressure compensator 212 of the lifting action control main valve 21. The electromagnet DT2.1 on the control oil cut-off valve 211 is energized, and the control oil enters the R2 port through the R1 port of the hydraulic pump station 1, and then enters the pilot control chamber of the external control electro-hydraulic directional valve 213. The electromagnet DT1 of the external control electro-hydraulic directional valve 213 is energized, and the left-position working high-pressure oil enters the first hydraulic lock 314 of the lifting cylinder 319. Inside the rod chamber 3191, the lifting cylinder 319 retracts; the electromagnet DT2 controlling the external electro-hydraulic directional valve 213 is energized, and the high-pressure oil in the left position enters the first rodless chamber 3192 of the lifting cylinder 319 through the balance valve 311. At the same time, the high-pressure oil reverses to open the first hydraulic lock 314, and the lifting cylinder 319 extends; if the lifting cylinder 319 gets stuck during use and needs to be unloaded, the first unloading valve 317 is energized to unload the first rod chamber 3191, and then the second unloading valve 318 is energized to unload the first rodless chamber 3192.

[0048] The control logic of the second lifting cylinder 32, the third lifting cylinder 33, and the fourth lifting cylinder 34 is the same as that of the first lifting cylinder 31.

[0049] The lifting and lowering process involves the synchronous operation of four hydraulic cylinders. To prevent the hydraulic cylinders from moving asynchronously due to different loads, the first displacement sensor 310 at the top of the lifting cylinder 319 feeds back the detected signal to the first lifting action control main valve 21. For hydraulic cylinders with faster movement speed, the opening is reduced, and for hydraulic cylinders with slower movement speed, the opening is increased to ensure synchronous movement.

[0050] Example 5: The basic content is the same as in Example 4, except that: The first lateral movement cylinder 35, the second lateral movement cylinder 36, the first longitudinal movement cylinder 37, and the second longitudinal movement cylinder 38 have identical structures; the first lateral movement cylinder 35 includes a second hydraulic lock 351, a third hydraulic lock 352, a third safety valve 353, a fourth safety valve 354, a third check valve 355, a fourth check valve 356, a third unloading valve 357, a fourth unloading valve 358, a lateral and longitudinal movement cylinder 359, and a second displacement sensor 350; the lateral and longitudinal movement cylinder 359 .... The second rod-mounted chamber 3591 and the second rodless chamber 3592 are connected; the second rod-mounted chamber 3591 is connected to port B4 via the second rod-mounted chamber circuit port G3, and the second rodless chamber 3592 is connected to port A4 via the second rodless chamber circuit port G4; the second rod-mounted chamber circuit port G3 is connected to port T6 via the third safety valve 353, and the second rodless chamber circuit port G4 is connected to port T6 via the fourth safety valve 354; the second hydraulic lock 351 is located between the second rod-mounted chamber circuit port G3 and port B4. On the rod chamber circuit 3593, the third hydraulic lock 352 is located on the second rodless chamber circuit 3594 between the second rodless chamber circuit port G4 and port A4; the third check valve 355 is connected to the fourth check valve 356; the third check valve 355 is located on the second rod chamber circuit 3593 between the second hydraulic lock 351 and the transverse and longitudinal movement cylinder 359; the fourth check valve 356 is located on the second rodless chamber circuit 3594 opposite to the third check valve 355; the third unloading valve 357 is connected to the fourth unloading valve. The load valve 358 is connected; the third unloading valve 357 is located on the second rod-side circuit 3593 between the third check valve 355 and the transverse and longitudinal displacement cylinder 359; the fourth unloading valve 358 is located on the second rodless circuit 3594 between the fourth check valve 356 and the transverse and longitudinal displacement cylinder 359; the third check valve 355, the fourth check valve 356, the third unloading valve 357, and the fourth unloading valve 358 are all connected to port T6; the second displacement sensor 350 is located at one end of the transverse and longitudinal displacement cylinder 359.

[0051] In application, when the control system performs control, taking the first lateral movement cylinder 35 as an example, hydraulic oil enters the P2 port through the P1 port of the hydraulic pump station 1, and then enters the inlet pressure compensator 212 of the first lateral movement control main valve 25. The electromagnet DT2.5 on the control oil cut-off valve 211 is energized, and the control oil enters the R2 port through the R1 port of the hydraulic pump station 1, and then enters the pilot control chamber of the external control electro-hydraulic directional valve 213. The electromagnet DT9 of the external control electro-hydraulic directional valve 213 is energized, and the high-pressure oil in the left position enters the second rod chamber of the lateral and longitudinal movement cylinder 359 through the second hydraulic lock 351. 3591, the horizontal and vertical displacement cylinder 359 retracts; the electromagnet DT10 controlling the external control electro-hydraulic directional valve 213 is energized, and the high-pressure oil in the left position enters the second rodless chamber 3592 of the horizontal and vertical displacement cylinder 359 through the third hydraulic lock 352. At the same time, the high-pressure oil reverses to open the second hydraulic lock 351, and the horizontal and vertical displacement cylinder 359 extends; if the horizontal and vertical displacement cylinder 359 gets stuck during use and needs to be unloaded, the fourth unloading valve 358 is energized to unload the second rodless chamber 3592, and then the third unloading valve 357 is energized to unload the second rod chamber 3591.

[0052] The control logic of the second horizontal movement cylinder 36, the first vertical movement cylinder 37, and the second vertical movement cylinder 38 is the same as that of the first horizontal movement cylinder 35.

[0053] The lifting and lowering process involves the synchronous operation of four hydraulic cylinders. To prevent the hydraulic cylinders from moving asynchronously due to different loads, the second displacement sensor 350 at one end of the horizontal and vertical displacement cylinder 359 feeds back the detected signal to the first horizontal movement control main valve 25. For hydraulic cylinders with faster movement speed, the opening is reduced, and for hydraulic cylinders with slower movement speed, the opening is increased to ensure synchronous movement.

[0054] The above description is only a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. Any equivalent modifications or changes made by those skilled in the art based on the content disclosed in the present invention should be included within the scope of protection set forth in the claims.

Claims

1. A hydraulic control system for a mobile platform, characterized in that: The control system includes a hydraulic pump station (1), a control module (2), and an execution module (3). The P1 port of the hydraulic pump station (1) is connected to the P2 port of the control module (2), the P3 port of the hydraulic pump station (1) is connected to the P4 port of the control module (2); the R1 port of the hydraulic pump station (1) is connected to the R2 port of the control module (2), the R3 port of the hydraulic pump station (1) is connected to the R4 port of the control module (2); the T1 port of the hydraulic pump station (1) is connected to the T2 port of the control module (2), and the L1 port of the hydraulic pump station (1) is connected to the L2 port of the control module (2). The T3 port of the control module (2) is connected to the T4 port of the execution module (3), the A1 port of the control module (2) is connected to the A2 port of the execution module (3), the B1 port of the control module (2) is connected to the B2 port of the execution module (3), and the L3 port of the control module (2) is connected to the L4 port of the execution module (3). The T5 port of the control module (2) is connected to the T6 port of the execution module (3), the A3 port of the control module (2) is connected to the A4 port of the execution module (3), and the B3 port of the control module (2) is connected to the B4 port of the execution module (3). The hydraulic pump station (1) includes a hydraulic oil tank (11), a main pump group (12), a standby pump group (13), a cooler (14), a first pressure oil filter (15a), a second pressure oil filter (15b), a third pressure oil filter (15c), a fourth pressure oil filter (15d), a return oil filter (16), a first pressure control and detection component (17a), a second pressure control and detection component (17b), a third pressure control and detection component (17c), a fourth pressure control and detection component (17d), and a return oil back pressure valve (18). The oil inlet S1 of the main pump group (12) and the oil inlet S2 of the standby pump group (13) are both connected to the hydraulic oil tank (11). The oil pressure port Y1 of the main pump assembly (12) is connected to the oil inlet Y2 of the first oil pressure filter (15a), and the oil pressure port Y3 of the main pump assembly (12) is connected to the oil inlet Y4 of the second oil pressure filter (15b). The oil pressure port Y5 of the standby pump group (13) is connected to the oil inlet Y6 of the third oil pressure filter (15c), and the oil pressure port Y7 of the standby pump group (13) is connected to the oil inlet Y8 of the fourth oil pressure filter (15d). The oil outlet Y9 of the first pressure oil filter (15a) is connected to the oil inlet Y10 of the first pressure control and detection component (17a), the oil outlet Y11 of the second pressure oil filter (15b) is connected to the oil inlet Y12 of the second pressure control and detection component (17b), the oil outlet Y13 of the third pressure oil filter (15c) is connected to the oil inlet Y14 of the third pressure control and detection component (17c), and the oil outlet Y15 of the fourth pressure oil filter (15d) is connected to the oil inlet Y16 of the fourth pressure control and detection component (17d). The oil inlet Y10 of the first pressure control detection component (17a) is connected to the P2 port of the control module (2) through the P1 port. The oil inlet Y12 of the second pressure control detection component (17b) is connected to the R2 port of the control module (2) through the R1 port. The oil inlet Y14 of the third pressure control detection component (17c) is connected to the P4 port of the control module (2) through the P3 port. The oil inlet Y16 of the fourth pressure control detection component (17d) is connected to the R4 port of the control module (2) through the R3 port.

2. The hydraulic control system for a mobile platform according to claim 1, characterized in that: The first pressure control detection component (17a), the second pressure control detection component (17b), the third pressure control detection component (17c), and the fourth pressure control detection component (17d) share a return oil pipeline (19) connected to the hydraulic oil tank (11); the return oil pipeline (19) between the fourth pressure control detection component (17d) and the hydraulic oil tank (11) is connected in sequence to a return oil back pressure valve (18), a cooler (14), and a return oil filter (16); the return oil pipeline (19) is connected to the T2 port of the control module (2) through the T1 port.

3. The hydraulic control system for a mobile platform according to claim 1, characterized in that: The control module (2) includes a first lifting action control main valve (21), a second lifting action control main valve (22), a third lifting action control main valve (23), a fourth lifting action control main valve (24), a first lateral movement control main valve (25), a second lateral movement control main valve (26), a first longitudinal movement control main valve (27), and a second longitudinal movement control main valve (28). The first lifting action control main valve (21), the second lifting action control main valve (22), the third lifting action control main valve (23), the fourth lifting action control main valve (24), the first lateral movement control main valve (25), the second lateral movement control main valve (26), the first longitudinal movement control main valve (27), and the second longitudinal movement control main valve (28) share a second return oil pipeline (191), which is connected to the T1 port through the T2 port; The first lifting action control main valve (21), the second lifting action control main valve (22), the third lifting action control main valve (23), the fourth lifting action control main valve (24), the first lateral movement control main valve (25), the second lateral movement control main valve (26), the first longitudinal movement control main valve (27), and the second longitudinal movement control main valve (28) share a common oil inlet pipeline (29), which is connected to the P1 port through the P2 port and to the P3 port through the P4 port; The first lifting action control main valve (21), the second lifting action control main valve (22), the third lifting action control main valve (23), the fourth lifting action control main valve (24), the first lateral movement control main valve (25), the second lateral movement control main valve (26), the first longitudinal movement control main valve (27), and the second longitudinal movement control main valve (28) share a common oil control pipeline (291), which is connected to the R1 port through the R2 port and to the R3 port through the R4 port; The first lifting action control main valve (21), the second lifting action control main valve (22), the third lifting action control main valve (23), the fourth lifting action control main valve (24), the first lateral movement control main valve (25), the second lateral movement control main valve (26), the first longitudinal movement control main valve (27), and the second longitudinal movement control main valve (28) share a drain oil pipeline (292), which is connected to the L1 port through the L2 port. The L1 port is connected to the hydraulic oil tank (11).

4. A hydraulic control system for a mobile platform according to claim 3, characterized in that: The first lifting action control main valve (21), the second lifting action control main valve (22), the third lifting action control main valve (23), the fourth lifting action control main valve (24), the first horizontal movement control main valve (25), the second horizontal movement control main valve (26), the first vertical movement control main valve (27), and the second vertical movement control main valve (28) have the same structure. The first lifting action control main valve (21) includes a control oil shut-off valve (211), an inlet pressure compensator (212), an external control electro-hydraulic directional valve (213), and a shuttle valve (214). The P5 port of the control oil shut-off valve (211) is connected to the control oil pipeline (291); the T7 port of the control oil shut-off valve (211) is connected to the connected drain pipeline (292); and the A5 port of the control oil shut-off valve (211) is connected to the external control electro-hydraulic directional valve (213). The inlet pressure compensator (212) is located on the oil inlet line (29) between the P port and the P2 port of the external control electro-hydraulic directional valve (213); The A port of the externally controlled electro-hydraulic directional valve (213) is connected to the A2 port through the A1 port, the B port of the externally controlled electro-hydraulic directional valve (213) is connected to the B2 port through the B1 port, and the P port of the externally controlled electro-hydraulic directional valve (213) is connected to the second return oil pipeline (191). The inlet J1 of the shuttle valve (214) is connected to the A port and B port of the external control electro-hydraulic directional valve (213), and the outlet J2 is connected to the inlet pressure compensator (212).

5. A hydraulic control system for a mobile platform according to claim 3 or 4, characterized in that: The execution module (3) includes a first lifting cylinder (31), a second lifting cylinder (32), a third lifting cylinder (33), a fourth lifting cylinder (34), a first horizontal movement cylinder (35), a second horizontal movement cylinder (36), a first vertical movement cylinder (37), and a second vertical movement cylinder (38). The first lifting action control main valve (21) corresponds one-to-one with the first lifting action cylinder (31), the second lifting action control main valve (22) corresponds to the second lifting action cylinder (32), the third lifting action control main valve (23) corresponds to the third lifting action cylinder (33), the fourth lifting action control main valve (24) corresponds to the fourth lifting action cylinder (34), the first horizontal movement control main valve (25) corresponds to the first horizontal movement cylinder (35), the second horizontal movement control main valve (26) corresponds to the second horizontal movement cylinder (36), the first vertical movement control main valve (27) corresponds to the first vertical movement cylinder (37), and the second vertical movement control main valve (28) corresponds to the second vertical movement cylinder (38).

6. A hydraulic control system for a mobile platform according to claim 5, characterized in that: The first lifting cylinder (31), the second lifting cylinder (32), the third lifting cylinder (33), and the fourth lifting cylinder (34) have the same structure; The lifting cylinder (31) includes a balance valve (311), a first safety valve (312), a second safety valve (313), a first hydraulic lock (314), a first check valve (315), a second check valve (316), a first unloading valve (317), a second unloading valve (318), a lifting cylinder (319), and a first displacement sensor (310).

7. A hydraulic control system for a mobile platform according to claim 6, characterized in that: The lifting cylinder (319) includes a first rod chamber (3191) and a first rodless chamber (3192). The first rod cavity (3191) is connected to port B2 through the first rod cavity circuit port G1, and the first rodless cavity (3192) is connected to port A2 through the first rodless cavity circuit port G2. The first rod-type cavity circuit port G1 is connected to port T4 through the first safety valve (312), and the first rodless cavity circuit port G2 is connected to port T4 through the second safety valve (313). The first hydraulic lock (314) is located on the first rod cavity circuit (3193) between the first rod cavity circuit port G1 and port B2; The first check valve (315) is connected to the second check valve (316); the first check valve (315) is located on the first rod-side circuit (3193) between the first hydraulic lock (314) and the lifting cylinder (319), and the second check valve (316) is located on the first rodless circuit (3194) opposite to the first check valve (315); The first unloading valve (317) is connected to the second unloading valve (318); the first unloading valve (317) is located on the first rod-side circuit (3193) between the first check valve (315) and the lifting cylinder (319), and the second unloading valve (318) is located on the first rodless circuit (3194) between the second check valve (316) and the lifting cylinder (319); The first check valve (315), the second check valve (316), the first unloading valve (317), and the second unloading valve (318) are all connected to port T4; The balance valve (311) is located on the first rodless chamber circuit (3194) between the first rodless chamber circuit port G2 and port A2. The oil inlet Q1 of the balance valve (311) is located on the first rod chamber circuit (3193) between the first hydraulic lock (314) and port B2. The oil outlet Q2 of the balance valve (311) is connected to port L4, port L4 is connected to port L3, and port L3 is connected to the oil outlet pipeline (292). The first displacement sensor (310) is located at the top of the lifting cylinder (319).

8. A hydraulic control system for a mobile platform according to claim 5, characterized in that: The first transverse moving cylinder (35), the second transverse moving cylinder (36), the first longitudinal moving cylinder (37), and the second longitudinal moving cylinder (38) have the same structure; The first lateral movement cylinder (35) includes a second hydraulic lock (351), a third hydraulic lock (352), a third safety valve (353), a fourth safety valve (354), a third check valve (355), a fourth check valve (356), a third unloading valve (357), a fourth unloading valve (358), a lateral and longitudinal movement cylinder (359), and a second displacement sensor (350).

9. A hydraulic control system for a mobile platform according to claim 8, characterized in that: The transverse and longitudinal displacement cylinder (359) includes a second rod chamber (3591) and a second rodless chamber (3592); The second rod-type cavity (3591) is connected to port B4 through the second rod-type cavity circuit port G3, and the second rodless cavity (3592) is connected to port A4 through the second rodless cavity circuit port G4. The second rod-type cavity circuit port G3 is connected to port T6 through the third safety valve (353), and the second rodless cavity circuit port G4 is connected to port T6 through the fourth safety valve (354). The second hydraulic lock (351) is located on the second rod cavity circuit (3593) between the second rod cavity circuit port G3 and port B4, and the third hydraulic lock (352) is located on the second rodless cavity circuit (3594) between the second rodless cavity circuit port G4 and port A4. The third check valve (355) is connected to the fourth check valve (356); the third check valve (355) is located on the second rod-side circuit (3593) between the second hydraulic lock (351) and the transverse and longitudinal movement cylinder (359), and the fourth check valve (356) is located on the second rodless circuit (3594) opposite to the third check valve (355); The third unloading valve (357) is connected to the fourth unloading valve (358); the third unloading valve (357) is located on the second rod-side circuit (3593) between the third check valve (355) and the transverse and longitudinal displacement cylinder (359), and the fourth unloading valve (358) is located on the second rodless circuit (3594) between the fourth check valve (356) and the transverse and longitudinal displacement cylinder (359); The third check valve (355), the fourth check valve (356), the third unloading valve (357), and the fourth unloading valve (358) are all connected to port T6. The second displacement sensor (350) is located at one end of the transverse and longitudinal displacement cylinder (359).

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