Hydraulic control system and method for synchronous movement of forcible entry supporting legs

Abstract

The invention relates to the technical field of synchronous movement of forcible entry supporting legs, in particular to a hydraulic control system and method for synchronous movement of forcible entry supporting legs. The hydraulic control system comprises a hydraulic pump, a first reversing valve, a second reversing valve, a first displacement sensor, a second displacement sensor, a third displacement sensor, a fourth displacement sensor and a controller. According to the invention, by detecting the telescopic displacement of the first support leg oil cylinder, the second support leg oil cylinder, the third support leg oil cylinder and the fourth support leg oil cylinder, whether the phenomenon of asynchronization exists among the support legs is judged; and when the asynchronous phenomenon exists, the telescopic displacement of each supporting leg oil cylinder can be adjusted by controlling the control current of the first proportional valve, the second proportional valve, the third proportional valve and the fourth proportional valve, and finally the aim of keeping the supporting leg oil cylinders synchronous is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of synchronous movement of demolition legs, and particularly to a hydraulic control system and method for synchronous movement of demolition legs. Background Art

[0002] After disasters such as earthquakes, typhoons, and mine accidents occur, survivors are generally squeezed in narrow ruins spaces. Therefore, building materials such as steel bars and cement blocks on the surface of the ruins must be completely broken and removed before effective rescue work can be carried out. Traditional construction machinery rescue equipment has a single function, cannot adapt to the diversity of disaster rescue tasks, and cannot meet rescue requirements. China has clearly stated that it focuses on the development of rescue robots to meet the needs of disaster reconnaissance and rapid processing at natural disaster and accident sites; encourages the active trial use of advanced technology new equipment, including remote-controlled demolition robots for narrow and high-risk areas. For early post-disaster rescue, it is used to cut collapsed beams and columns of buildings, break and grab floors, and peel off residues, clear obstacles for life rescue, and take into account diverse rescue needs and demolition needs in the metallurgical industry. Therefore, demolition robots with remote control operation, multi-functional operation, strong mobility, and high efficiency are introduced to the market.

[0003] Due to the limitation of the number of connections of the main valve, when the existing excavators are configured with a leg system, often one connection of the oil circuit supplies the actions of two legs simultaneously. When the legs are retracted, simultaneous and synchronous actions are required to ensure the stability of the whole vehicle. Due to differences in manufacturing, assembly, and working conditions, the loads of each leg are different when supporting the vehicle. Most current systems balance the loads by increasing fixed throttling, that is, a flow dividing and collecting valve, to achieve simultaneous and synchronous actions of the legs.

[0004] Due to manufacturing and assembly errors, if only fixed throttling is used to balance the loads, then various specifications of throttling dampers need to be set to repeatedly debug each leg to achieve a relative balance, which is time-consuming and laborious with low efficiency. If the throttle orifice is too large, the throttling effect is not obvious; if the throttle orifice is too small, rapid action cannot be achieved. In addition, under different working conditions, setting fixed throttling dampers is likely to have the opposite effect, aggravating the asynchronous phenomenon of the legs, causing the whole vehicle to tilt and be unstable, and there are safety hazards. Summary of the Invention

[0005] The purpose of the present invention is to provide a hydraulic control system and method for synchronous movement of demolition legs. By detecting the telescopic displacements of the first leg cylinder, the second leg cylinder, the third leg cylinder, and the fourth leg cylinder, it is judged whether there is an asynchronous phenomenon between each leg, and when there is an asynchronous phenomenon, the control currents of the first proportional valve, the second proportional valve, the third proportional valve, and the fourth proportional valve are controlled to adjust the telescopic displacements of each leg cylinder and finally achieve the purpose of keeping each leg cylinder synchronous.

[0006] To achieve the above object, the present invention adopts the following technical solutions to solve the problem: In a first aspect, the present invention provides a hydraulic control system for synchronous movement of demolition legs, including: A hydraulic pump; A first reversing valve, the inlet port of which is connected to the outlet port of the hydraulic pump; the first working oil port of the first reversing valve is connected in parallel to the rodless cavities of the first leg cylinder and the second leg cylinder; the second working oil port of the first reversing valve is connected in parallel to the inlet ports of the first proportional valve and the second proportional valve, and the outlet ports of the first proportional valve and the second proportional valve are respectively connected to the rod cavities of the first leg cylinder and the second leg cylinder; A second reversing valve, the inlet port of which is connected to the outlet port of the hydraulic pump and is connected in parallel to the inlet port of the first reversing valve; the first working oil port of the second reversing valve is connected in parallel to the rodless cavities of the third leg cylinder and the fourth leg cylinder; the second working oil port of the second reversing valve is connected in parallel to the inlet ports of the third proportional valve and the fourth proportional valve; the outlet ports of the third proportional valve and the fourth proportional valve are respectively connected to the rod cavities of the third leg cylinder and the fourth leg cylinder; A first displacement sensor, a second displacement sensor, a third displacement sensor, and a fourth displacement sensor, which are respectively used to detect the displacements of the first leg cylinder, the second leg cylinder, the third leg cylinder, and the fourth leg cylinder to obtain the first displacement, the second displacement, the third displacement, and the fourth displacement respectively; A controller, which is configured to control the control currents of the first proportional valve, the second proportional valve, the third proportional valve, and the fourth proportional valve according to the first displacement, the second displacement, the third displacement, and the fourth displacement to adjust the valve core opening.

[0007] Optionally, both the first reversing valve and the second reversing valve include a reversing valve body; the reversing valve body has an inlet port, a first working oil port, a second working oil port, and a return oil port, and the reversing valve body has a left position, a middle position, and a right position. By switching the valve core position of the reversing valve body, the first working oil port or the second working oil port of the reversing valve body can be used as the outlet port to discharge oil.

[0008] Optionally, when the electromagnetic valve at the left end of the reversing valve body is energized, the reversing valve body is in the left position, the inlet port and the first working oil port of the reversing valve body are communicated, and the second working oil port and the return oil port of the reversing valve body are communicated; When the electromagnetic valve at the right end of the reversing valve body is energized, the reversing valve body is in the right position, the inlet port and the second working oil port of the reversing valve body are communicated, and the first working oil port and the return oil port of the reversing valve body are communicated; When neither the electromagnetic valve at the left end nor the electromagnetic valve at the right end of the reversing valve body is energized, the reversing valve body is in the middle position, and the inlet port of the reversing valve body is cut off.

[0009] Optionally, the first proportional valve, the second proportional valve, the third proportional valve, and the fourth proportional valve each include a proportional valve body; the spool opening of the proportional valve body can be controlled by adjusting the control current of the proportional valve body.

[0010] Optionally, the proportional valve body has a left position and a right position; a spring and a solenoid valve are respectively connected to the left end and the right end of the proportional valve body; Under the action of the spring, the proportional valve body is in the left position in the natural state, and the oil inlet and the oil outlet of the proportional valve body are connected; When the solenoid valve at the right end of the proportional valve body is energized, the spool position of the proportional valve body moves, and the spool opening of the proportional valve body changes; When the control current of the solenoid valve at the right end of the proportional valve body reaches a preset threshold value, the proportional valve body switches to the right position, and the oil inlet of the proportional valve body is cut off.

[0011] Optionally, the first outrigger cylinder, the second outrigger cylinder, the third outrigger cylinder, and the fourth outrigger cylinder are respectively connected to the first outrigger, the second outrigger, the third outrigger, and the fourth outrigger to drive the corresponding outriggers to move respectively.

[0012] Optionally, the first outrigger cylinder, the second outrigger cylinder, the third outrigger cylinder, and the fourth outrigger cylinder are all connected with hydraulic locks, and the hydraulic locks are used to block the oil circuit after the connected outrigger cylinders complete their actions to fix the positions of the corresponding outriggers.

[0013] Optionally, the first displacement sensor, the second displacement sensor, the third displacement sensor, and the fourth displacement sensor are respectively arranged on the piston rods of the first outrigger cylinder, the second outrigger cylinder, the third outrigger cylinder, and the fourth outrigger cylinder.

[0014] Optionally, the controller is communicatively connected to the first displacement sensor, the second displacement sensor, the third displacement sensor, the fourth displacement sensor, the first proportional valve, the second proportional valve, the third proportional valve, and the fourth proportional valve.

[0015] In a second aspect, the present invention provides a control method for a hydraulic control system for synchronous movement of a demolition outrigger, which is applied to the hydraulic control system for synchronous movement of a demolition outrigger as claimed in the claims, and the control method: Step S1, compare the first displacement and the second displacement; if the first displacement is greater than the second displacement, reduce the control current of the first proportional valve until the first displacement is equal to the second displacement; if the first displacement is less than the second displacement, reduce the control current of the second proportional valve until the second displacement is equal to the first displacement; Step S2: Compare the third displacement and the fourth displacement. If the third displacement is greater than the fourth displacement, reduce the control current of the third proportional valve until the third displacement is the same as the fourth displacement. If the third displacement is less than the fourth displacement, reduce the control current of the fourth proportional valve until the fourth displacement is equal to the third displacement. Step S3: Compare the first displacement adjusted in Step S1 and the third displacement adjusted in Step S2. If the first displacement is greater than the third displacement, reduce the control current of the first proportional valve and return to Step S1. If the first displacement is less than the third displacement, reduce the control current of the third proportional valve and return to Step S2. Step S4: If the comparison result in Step S3 is that the first displacement is equal to the third displacement, the process ends, and it is determined that the displacements of the first leg cylinder, the second leg cylinder, the third leg cylinder, and the fourth leg cylinder are synchronized.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The hydraulic control system for the synchronous movement of the demolition legs provided by the present invention utilizes the telescopic displacements of each leg cylinder collected by the first displacement sensor, the second displacement sensor, the third displacement sensor, and the fourth displacement sensor to perform feedback control on the control currents of the first proportional valve, the second proportional valve, the third proportional valve, and the fourth proportional valve, so as to adjust the telescopic displacements of each leg cylinder to ensure synchronous actions among the legs, improve the stability of the vehicle operation, and reduce the risk of vehicle body tilt. Description of the Drawings

[0017] Figure 1 It is the hydraulic schematic diagram of the hydraulic control system for the synchronous movement of the demolition legs in Embodiment 1; Figure 2 It is the flowchart of the control method of the hydraulic control system for the synchronous movement of the demolition legs in Embodiment 2.

[0018] Reference numerals in the figures: 1, hydraulic pump; 21, first reversing valve; 22, second reversing valve; 31, first proportional valve; 32, second proportional valve; 33, third proportional valve; 34, fourth proportional valve; 41, first hydraulic lock; 42, second hydraulic lock; 43, third hydraulic lock; 44, fourth hydraulic lock; 51, first leg cylinder; 52, second leg cylinder; 53, third leg cylinder; 54, fourth leg cylinder; 61, first displacement sensor; 62, second displacement sensor; 63, third displacement sensor; 64, fourth displacement sensor; 7, controller. Detailed Embodiments

[0019] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention. In addition, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more. In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "mounted", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood through specific circumstances.

[0020] The present invention will be further described below with reference to the drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and cannot be used to limit the protection scope of the present invention. Embodiment 1

[0021] In order to make the objectives, technical solutions and advantages of the present invention clearer and more understandable, the present invention will be further described in detail below with reference to the drawings and embodiments.

[0022] Combine Figure 1, this embodiment provides a hydraulic control system for synchronous movement of demolition legs, which includes a hydraulic pump 1, a first directional valve 21, a second directional valve 22, a first displacement sensor 61, a second displacement sensor 62, a third displacement sensor 63, a fourth displacement sensor 64, and a controller 7. The hydraulic pump 1 is connected to an oil tank and is used to supply hydraulic oil. The inlet port of the first directional valve 21 is connected to the outlet port of the hydraulic pump 1; the first working oil port of the first directional valve 21 is connected in parallel to the rodless chambers of a first leg cylinder 51 and a second leg cylinder 52; the second working oil port of the first directional valve 21 is connected in parallel to the inlet ports of a first proportional valve 31 and a second proportional valve 32, and the outlet ports of the first proportional valve 31 and the second proportional valve 32 are respectively connected to the rod chambers of the first leg cylinder 51 and the second leg cylinder 52. The inlet port of the second directional valve 22 is connected to the outlet port of the hydraulic pump 1 and is in parallel with the first directional valve 21; the first working oil port of the second directional valve 22 is connected in parallel to the rodless chambers of a third leg cylinder 53 and a fourth leg cylinder 54; the second working oil port of the second directional valve 22 is connected in parallel to the inlet ports of a third proportional valve 33 and a fourth proportional valve 34; the outlet ports of the third proportional valve 33 and the fourth proportional valve 34 are respectively connected to the rod chambers of the third leg cylinder 53 and the fourth leg cylinder 54. The first leg cylinder 51, the second leg cylinder 52, the third leg cylinder 53, and the fourth leg cylinder 54 are respectively connected to a first leg, a second leg, a third leg, and a fourth leg to respectively drive the corresponding legs to move.

[0023] Taking the working principles of the first reversing valve 21, the first proportional valve 31, and the first outrigger cylinder 51 as an example for illustration, in this embodiment, by switching the valve position of the first reversing valve 21, the telescopic direction of the first outrigger cylinder 51 can be controlled to make the first outrigger execute corresponding actions. By adjusting the control current of the first proportional valve 31, the opening degree of the spool of the first proportional valve 31 can be controlled, thereby controlling the telescopic displacement of the first outrigger cylinder 51. It can be understood that in this embodiment, by controlling the first reversing valve 21 and the first proportional valve 31, the first outrigger can be controlled to execute corresponding actions according to actual needs (when the rodless cavity is filled with oil, the rod cavity returns oil, and the piston rod extends; when the rod cavity is filled with oil, the rodless cavity returns oil, and the piston rod retracts). And during the action process, by controlling the control current of the first proportional valve 31, the telescopic displacement of the first outrigger cylinder 51 can be adjusted. The control of the second outrigger cylinder 52, the third outrigger cylinder 53, and the fourth outrigger cylinder 54 is the same. In the case where the telescopic displacements of the outrigger cylinders may be inconsistent under different flow rates and different pressures, it is very difficult and unstable to rely on throttle valves to adjust. Therefore, in this embodiment, by using the real-time data of the displacement sensors to feedback the control currents of the proportional valves, the synchronous movement of each outrigger can be ensured more stably and realizably. During the actual operation process, if it is found that the telescopic displacements of the outrigger cylinders are inconsistent, the control current of the corresponding proportional valve can be adjusted to adjust the cylinder displacement to ensure the synchronous movement between the outriggers.

[0024] In some specific embodiments, the first reversing valve 21 and the second reversing valve 22 both include a reversing valve body; the reversing valve bodies both have an oil inlet, a first working oil port, a second working oil port, and an oil return port. The reversing valve bodies have a left position, a middle position, and a right position. By switching the spool position of the reversing valve body, the first working oil port or the second working oil port of the reversing valve body can be used as the oil outlet to discharge oil. When the electromagnetic valve at the left end of the reversing valve body is energized, the reversing valve body is in the left position, the oil inlet and the first working oil port of the reversing valve body are communicated, and the second working oil port and the oil return port of the reversing valve body are communicated; when the electromagnetic valve at the right end of the reversing valve body is energized, the reversing valve body is in the right position, the oil inlet and the second working oil port of the reversing valve body are communicated, and the first working oil port and the oil return port of the reversing valve body are communicated; when the electromagnetic valves at the left and right ends of the reversing valve body are both de-energized, the reversing valve body is in the middle position, and the oil inlet of the reversing valve body is blocked. Through the above working mode, the first reversing valve 21 and the second reversing valve 22 in this embodiment can stably control the telescopic movement of the outrigger cylinders.

[0025] In this embodiment, the first displacement sensor 61, the second displacement sensor 62, the third displacement sensor 63, and the fourth displacement sensor 64 are respectively used to detect the displacements of the first outrigger cylinder 51, the second outrigger cylinder 52, the third outrigger cylinder 53, and the fourth outrigger cylinder 54, so as to obtain the first displacement, the second displacement, the third displacement, and the fourth displacement respectively. In this embodiment, the first displacement sensor 61, the second displacement sensor 62, the third displacement sensor 63, and the fourth displacement sensor 64 are respectively arranged on the piston rods of the first outrigger cylinder 51, the second outrigger cylinder 52, the third outrigger cylinder 53, and the fourth outrigger cylinder 54.

[0026] To ensure the synchronization between each outrigger, the first displacement, the second displacement, the third displacement, and the fourth displacement of the first outrigger cylinder 51, the second outrigger cylinder 52, the third outrigger cylinder 53, and the fourth outrigger cylinder 54 should be kept consistent, so as to realize the simultaneous and synchronous actions of the outriggers and ensure the stable operation of the demolition robot. In this embodiment, the controller 7 is communicatively connected to the first displacement sensor 61, the second displacement sensor 62, the third displacement sensor 63, the fourth displacement sensor 64, the first proportional valve 31, the second proportional valve 32, the third proportional valve 33, and the fourth proportional valve 34. The controller 7 is configured to control the control currents of the first proportional valve 31, the second proportional valve 32, the third proportional valve 33, and the fourth proportional valve 34 according to the first displacement, the second displacement, the third displacement, and the fourth displacement to adjust the valve core opening. By adjusting the control currents of each proportional valve, the telescopic displacement of the corresponding outrigger can be adaptively adjusted to make each outrigger consistent.

[0027] In some specific embodiments, the first proportional valve 31, the second proportional valve 32, the third proportional valve 33, and the fourth proportional valve 34 all include a proportional valve body; the valve core opening of the proportional valve body can be controlled by adjusting the control current of the proportional valve body. The proportional valve body has a left position and a right position; a spring and a solenoid valve are respectively connected to the left end and the right end of the proportional valve body; under the action of the spring, the proportional valve body is in the left position in the natural state, and the oil inlet and the oil outlet of the proportional valve body are connected; when the solenoid valve at the right end of the proportional valve body is powered on, the valve core position of the proportional valve body moves, and the valve core opening of the proportional valve body changes; when the control current of the solenoid valve at the right end of the proportional valve body reaches a preset threshold value, the proportional valve body switches to the right position, and the oil inlet of the proportional valve body is cut off.

[0028] In another specific embodiment, the first outrigger cylinder 51, the second outrigger cylinder 52, the third outrigger cylinder 53, and the fourth outrigger cylinder 54 are all connected with hydraulic locks. The hydraulic locks are connected to the oil inlet circuits of the rod chambers and the rodless chambers of the respective outrigger cylinders. The hydraulic locks can block the oil circuits after the actions of the connected outrigger cylinders are completed to fix the positions of the corresponding outriggers to play a load-holding role. In this embodiment, the first outrigger cylinder 51, the second outrigger cylinder 52, the third outrigger cylinder 53, and the fourth outrigger cylinder 54 are respectively connected with a first hydraulic lock 41, a second hydraulic lock 42, a third hydraulic lock 43, and a fourth hydraulic lock 44. Embodiment 2

[0029] Combined with Figure 2 , based on the same inventive concept, this embodiment provides a control method applied to the hydraulic control system for the synchronous movement of the demolition outriggers: The control method includes: Step S1: Compare the first displacement and the second displacement; if the first displacement is greater than the second displacement, reduce the control current of the first proportional valve 31 until the first displacement is equal to the second displacement; if the first displacement is less than the second displacement, reduce the control current of the second proportional valve 32 until the second displacement is equal to the first displacement; Step S2: Compare the third displacement and the fourth displacement; if the third displacement is greater than the fourth displacement, reduce the control current of the third proportional valve 33 until the third displacement is the same as the fourth displacement; if the third displacement is less than the fourth displacement, reduce the control current of the fourth proportional valve 34 until the fourth displacement is equal to the third displacement; Step S3: Compare the first displacement adjusted in step S1 and the third displacement adjusted in step S2. If the first displacement is greater than the third displacement, reduce the control current of the first proportional valve 31 and return to step S1; if the first displacement is less than the third displacement, reduce the control current of the third proportional valve 33 and return to step S2; Step S4: If the comparison result in step S3 is that the first displacement is equal to the third displacement, the process ends, and it is determined that the displacements of the first outrigger cylinder 51, the second outrigger cylinder 52, the third outrigger cylinder 53, and the fourth outrigger cylinder 54 are synchronous.

[0030] The control method of this embodiment, based on the hydraulic oil circuit of the control system, collects the telescopic displacements of each outrigger cylinder in real time to determine whether there is an asynchronous situation among the outriggers, and adjusts the control current of the proportional valve corresponding to each outrigger cylinder according to the judgment result. Thus, through continuous adjustment in multiple steps, the telescopic displacements of multiple outrigger cylinders can be made consistent to ensure that each outrigger moves simultaneously and synchronously.

[0031] The above are only the preferred embodiments of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the technical principle of the present invention, several improvements and modifications can be made, and these improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A hydraulic control system for synchronous movement of demolition legs, characterized in that, Comprising: A hydraulic pump; A first reversing valve, the oil inlet of which is connected to the oil outlet of the hydraulic pump; the first working oil port of the first reversing valve is connected in parallel to the rodless chambers of the first outrigger cylinder and the second outrigger cylinder; the second working oil port of the first reversing valve is connected in parallel to the oil inlets of the first proportional valve and the second proportional valve, and the oil outlets of the first proportional valve and the second proportional valve are respectively connected to the rod chambers of the first outrigger cylinder and the second outrigger cylinder; A second reversing valve, the oil inlet of which is connected to the oil outlet of the hydraulic pump and is connected in parallel to the oil inlet of the first reversing valve; the first working oil port of the second reversing valve is connected in parallel to the rodless chambers of the third outrigger cylinder and the fourth outrigger cylinder; the second working oil port of the second reversing valve is connected in parallel to the oil inlets of the third proportional valve and the fourth proportional valve; the oil outlets of the third proportional valve and the fourth proportional valve are respectively connected to the rod chambers of the third outrigger cylinder and the fourth outrigger cylinder; A first displacement sensor, a second displacement sensor, a third displacement sensor and a fourth displacement sensor, which are respectively used to detect the displacements of the first outrigger cylinder, the second outrigger cylinder, the third outrigger cylinder and the fourth outrigger cylinder to respectively obtain a first displacement, a second displacement, a third displacement and a fourth displacement; A controller, which is configured to control the control currents of the first proportional valve, the second proportional valve, the third proportional valve and the fourth proportional valve according to the first displacement, the second displacement, the third displacement and the fourth displacement.

2. The hydraulic control system for synchronous movement of the demolition outriggers according to claim 1, characterized in that, Both the first reversing valve and the second reversing valve include a reversing valve body; the reversing valve body has an oil inlet, a first working oil port, a second working oil port and an oil return port, and the reversing valve body has a left position, a middle position and a right position. By switching the spool position of the reversing valve body, the first working oil port or the second working oil port of the reversing valve body can be used as the oil outlet to discharge oil.

3. The hydraulic control system for synchronous movement of the demolition outriggers according to claim 2, wherein When the solenoid valve at the left end of the reversing valve body is energized, the reversing valve body is in the left position, the oil inlet and the first working oil port of the reversing valve body are communicated, and the second working oil port and the oil return port of the reversing valve body are communicated; When the solenoid valve at the right end of the reversing valve body is energized, the reversing valve body is in the right position, the oil inlet and the second working oil port of the reversing valve body are communicated, and the first working oil port and the oil return port of the reversing valve body are communicated; When the solenoid valves at the left end and the right end of the reversing valve body are not energized, the reversing valve body is in the middle position and the oil inlet of the reversing valve body is cut off.

4. The hydraulic control system for synchronous movement of the demolition outriggers according to claim 1, characterized in that, The first proportional valve, the second proportional valve, the third proportional valve and the fourth proportional valve all include a proportional valve body; the spool opening of the proportional valve body can be controlled by adjusting the control current of the proportional valve body.

5. The hydraulic control system for synchronous movement of the demolition outriggers according to claim 4, characterized in that, The proportional valve body has a left position and a right position; springs and solenoid valves are respectively connected to the left end and the right end of the proportional valve body; Under the action of the spring, the proportional valve body is in the left position in the natural state, and the oil inlet and the oil outlet of the proportional valve body are connected; When the solenoid valve at the right end of the proportional valve body is energized, the spool position of the proportional valve body moves and the spool opening of the proportional valve body changes; When the control current of the solenoid valve at the right end of the proportional valve body reaches the preset threshold, the proportional valve body switches to the right position, and the oil inlet of the proportional valve body is cut off.

6. The hydraulic control system for synchronous movement of the breaking legs according to claim 1, characterized in that, The first outrigger cylinder, the second outrigger cylinder, the third outrigger cylinder, and the fourth outrigger cylinder are respectively connected to the first outrigger, the second outrigger, the third outrigger, and the fourth outrigger to drive the corresponding outriggers to move respectively.

7. The hydraulic control system for synchronous movement of the breaking legs according to claim 6, characterized in that, The first outrigger cylinder, the second outrigger cylinder, the third outrigger cylinder, and the fourth outrigger cylinder are all connected with hydraulic locks, and the hydraulic locks are used to block the oil circuit to fix the position of the corresponding outrigger after the action of the connected outrigger cylinder is completed.

8. The hydraulic control system for synchronous movement of the demolition outriggers according to claim 1, characterized in that, The first displacement sensor, the second displacement sensor, the third displacement sensor, and the fourth displacement sensor are respectively arranged on the piston rods of the first outrigger cylinder, the second outrigger cylinder, the third outrigger cylinder, and the fourth outrigger cylinder.

9. The hydraulic control system for synchronous movement of the demolition outriggers according to claim 1, wherein, The controller is communicatively connected to the first displacement sensor, the second displacement sensor, the third displacement sensor, the fourth displacement sensor, the first proportional valve, the second proportional valve, the third proportional valve, and the fourth proportional valve.

10. The control method of the hydraulic control system for the synchronous movement of the demolition outriggers according to claim 1, characterized in that, Applied to the hydraulic control system for the synchronous movement of the demolition outriggers according to any one of claims 1-9, the control method: Step S1: Compare the first displacement and the second displacement; if the first displacement is greater than the second displacement, reduce the control current of the first proportional valve until the first displacement is equal to the second displacement; if the first displacement is less than the second displacement, reduce the control current of the second proportional valve until the second displacement is equal to the first displacement; Step S2: Compare the third displacement and the fourth displacement; if the third displacement is greater than the fourth displacement, reduce the control current of the third proportional valve until the third displacement is the same as the fourth displacement; if the third displacement is less than the fourth displacement, reduce the control current of the fourth proportional valve until the fourth displacement is equal to the third displacement; Step S3: Compare the first displacement adjusted in step S1 and the third displacement adjusted in step S2. If the first displacement is greater than the third displacement, reduce the control current of the first proportional valve and return to step S1; if the first displacement is less than the third displacement, reduce the control current of the third proportional valve and return to step S2; Step S4: If the comparison result in step S3 is that the first displacement is equal to the third displacement, the process ends, and it is determined that the displacements of the first outrigger cylinder, the second outrigger cylinder, the third outrigger cylinder, and the fourth outrigger cylinder are synchronous.

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