Hydraulic control system and method for synchronized movement of breaching legs

Abstract

The present application relates to the technical field of synchronous movement of breaking legs, and particularly relates to a hydraulic control system and method for synchronous movement of breaking 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. The present application detects the extension and retraction displacement of the first leg oil cylinder, the second leg oil cylinder, the third leg oil cylinder and the fourth leg oil cylinder to determine whether there is a phenomenon of asynchronization between the legs, and can adjust the extension and retraction displacement of each leg oil cylinder by controlling the control current of the first proportional valve, the second proportional valve, the third proportional valve and the fourth proportional valve when the asynchronization phenomenon exists, so as to ultimately achieve the purpose of keeping each leg oil cylinder in synchronization.

Description

Technical Field

[0001] This invention relates to the field of synchronous motion technology for demolition outriggers, specifically to a hydraulic control system and method for synchronous motion of demolition outriggers. Background Technology

[0002] After disasters such as earthquakes, typhoons, and mine accidents, survivors are usually trapped in confined spaces of rubble. Therefore, it is essential to completely break up and remove all structural materials such as steel bars and concrete blocks from the surface of the rubble before effective rescue work can proceed. Traditional engineering machinery rescue equipment has limited functionality and cannot adapt to the diverse nature of disaster relief tasks, failing to meet rescue needs. my country has explicitly stated its priority on developing rescue robots to meet the needs of disaster reconnaissance and rapid response at natural disaster and accident sites; it also encourages the active trial of advanced technologies and new equipment, including remotely controlled demolition robots for use in confined, high-risk areas. For early post-disaster rescue, robots are used to cut collapsed beams and columns, break and grab floor slabs, and remove debris to clear obstacles for life-saving efforts, while also addressing diverse rescue needs and the demolition requirements of the metallurgical industry. Therefore, demolition robots with remote control operation, multi-functionality, high mobility, and high efficiency are being introduced to the market.

[0003] Due to the limitation on the number of main valve connections, existing excavators often require a single hydraulic circuit to simultaneously power two outriggers when configuring their outrigger systems. When the outriggers retract, simultaneous and synchronized action is necessary to ensure the stability of the entire vehicle. Because of differences in manufacturing, assembly, and operating conditions, the load on each outrigger varies when supporting the vehicle. Current systems mostly achieve this by adding a fixed throttling valve, i.e., a flow divider / combiner valve, to balance the load and achieve simultaneous and synchronized outrigger action.

[0004] Due to manufacturing and assembly errors, relying solely on fixed throttling to balance the load requires setting multiple specifications of throttling dampers and repeatedly adjusting each outrigger to achieve a relative balance. This is time-consuming, labor-intensive, and inefficient. If the throttling orifice is too large, the throttling effect is insignificant; if it is too small, rapid action is impossible. Furthermore, under different operating conditions, setting a fixed throttling damper may have the opposite effect, exacerbating the outriggers' asynchrony, causing the entire vehicle to tilt and become unstable, posing a safety hazard. Summary of the Invention

[0005] The purpose of this invention is to provide a hydraulic control system and method for the synchronous movement of outriggers. By detecting the extension and retraction displacements of the first, second, third, and fourth outrigger cylinders, it can determine whether there is a lack of synchronization among the outriggers. When a lack of synchronization exists, the control current of the first, second, third, and fourth proportional valves can be controlled to adjust the extension and retraction displacements of each outrigger cylinder, ultimately achieving the goal of keeping the outrigger cylinders synchronized.

[0006] To achieve the above objectives, the present invention provides the following technical solution: In a first aspect, the present invention provides a hydraulic control system for the synchronous movement of a demolition outrigger, comprising: Hydraulic pump; The first directional valve has its inlet connected to the outlet of the hydraulic pump; the first working port of the first directional valve is connected in parallel to the rodless chamber of the first outrigger cylinder and the second outrigger cylinder; the second working port of the first directional valve is connected in parallel to the inlet of the first proportional valve and the second proportional valve, and the outlets of the first proportional valve and the second proportional valve are respectively connected to the rod chamber of the first outrigger cylinder and the second outrigger cylinder. The second directional valve has its inlet connected to the outlet of the hydraulic pump and in parallel with the inlet of the first directional valve; the first working port of the second directional valve is connected in parallel to the rodless chambers of the third and fourth outrigger cylinders; the second working port of the second directional valve is connected in parallel to the inlets of the third and fourth proportional valves; and the outlets of the third and fourth proportional valves are respectively connected to the rod chambers of the third and fourth outrigger cylinders. The first displacement sensor, the second displacement sensor, the third displacement sensor, and the fourth displacement sensor are used to detect the displacements of the first outrigger cylinder, the second outrigger cylinder, the third outrigger cylinder, and the fourth outrigger cylinder, respectively, so as to obtain the first displacement, the second displacement, the third displacement, and the fourth displacement. The controller is configured to control the control current of the first proportional valve, the second proportional valve, the third proportional valve, and the fourth proportional valve to adjust the valve core opening based on the first displacement, the second displacement, the third displacement, and the fourth displacement.

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

[0008] Optionally, 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 of the reversing valve body is connected to the first working oil port, and the second working oil port of the reversing valve body is connected to the return oil port. 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 connected, and the first working oil port and the return oil port of the reversing valve body are connected. When neither of the solenoid valves at the left nor right end of the reversing valve body is energized, the reversing valve body is in the neutral position, and the oil inlet 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 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.

[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 its natural state, and the oil inlet and 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 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, 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 outrigger to move.

[0012] Optionally, the first, second, third, and fourth outrigger cylinders are all connected to hydraulic locks, which are used to block the oil circuit after the connected outrigger cylinder has completed its operation, thereby fixing the position of the corresponding outrigger.

[0013] Optionally, the first displacement sensor, the second displacement sensor, the third displacement sensor, and the fourth displacement sensor are respectively mounted 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] Secondly, the present invention provides a control method for a hydraulic control system for the synchronous movement of a demolition outrigger, which is applied to the hydraulic control system for the synchronous movement of a demolition outrigger as described in the claims, wherein the control method is as follows: 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 after adjustment in step S1 with the third displacement after adjustment 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 of step S3 is that the first displacement is equal to the third displacement, the process ends, and the displacement 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 synchronous movement of outriggers provided by this invention utilizes the extension and retraction displacements of each outrigger cylinder collected by the first, second, third, and fourth displacement sensors to provide feedback control of the control current of the first, second, third, and fourth proportional valves. This adjusts the extension and retraction displacements of each outrigger cylinder to ensure that each outrigger maintains synchronous movement, thereby improving the overall vehicle stability and reducing the risk of vehicle tilting. Attached Figure Description

[0017] Figure 1 This is a hydraulic schematic diagram of the hydraulic control system for the synchronous movement of the outriggers in Example 1; Figure 2 This is a flowchart of the control method of the hydraulic control system for the synchronous movement of the outriggers in Example 2.

[0018] The following are the labelings in the diagram: 1. Hydraulic pump; 21. First directional valve; 22. Second directional 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 outrigger cylinder; 52. Second outrigger cylinder; 53. Third outrigger cylinder; 54. Fourth outrigger cylinder; 61. First displacement sensor; 62. Second displacement sensor; 63. Third displacement sensor; 64. Fourth displacement sensor; 7. Controller. Detailed Implementation

[0019] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are used only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more. In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0020] The present invention will be further described below with reference to the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and should not be used to limit the scope of protection of the present invention. Example 1

[0021] To make the purpose, technical solution, and advantages of this invention patent clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0022] Combination Figure 1This embodiment provides a hydraulic control system for the synchronous movement of a demolition outrigger, comprising 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 of the first directional valve 21 is connected to the outlet of the hydraulic pump 1; the first working port of the first directional valve 21 is connected in parallel to the rodless chamber of the first outrigger cylinder 51 and the second outrigger cylinder 52; the second working port of the first directional valve 21 is connected in parallel to the inlet of the first proportional valve 31 and the second proportional valve 32, and the outlets of the first proportional valve 31 and the second proportional valve 32 are respectively connected to the rod chamber of the first outrigger cylinder 51 and the second outrigger cylinder 52. The inlet of the second directional valve 22 is connected to the outlet of the hydraulic pump 1 and is connected in parallel with the first directional valve 21; the first working port of the second directional valve 22 is connected in parallel to the rodless chambers of the third outrigger cylinder 53 and the fourth outrigger cylinder 54; the second working port of the second directional valve 22 is connected in parallel to the inlets of the third proportional valve 33 and the fourth proportional valve 34; the outlets of the third proportional valve 33 and the fourth proportional valve 34 are respectively connected to the rod chambers of the third outrigger cylinder 53 and the fourth outrigger cylinder 54. The first outrigger cylinder 51, the second outrigger cylinder 52, the third outrigger cylinder 53, and the fourth outrigger cylinder 54 are respectively connected to the first outrigger, the second outrigger, the third outrigger, and the fourth outrigger to drive the corresponding outrigger to move.

[0023] Taking the working principle of the first directional valve 21, the first proportional valve 31 and the first outrigger cylinder 51 as an example, this embodiment can control the extension and retraction direction of the first outrigger cylinder 51 by switching the valve position of the first directional valve 21 to control the first outrigger to perform the corresponding action. By adjusting the control current of the first proportional valve 31, the valve core opening of the first proportional valve 31 can be controlled, thereby controlling the extension and retraction displacement of the first outrigger cylinder 51. Understandably, this embodiment controls the first outrigger to perform corresponding actions according to actual needs by controlling the first directional valve 21 and the first proportional valve 31 (when oil enters the rodless chamber, oil returns to the rod chamber, and the piston rod extends; when oil enters the rod chamber, oil returns to the rodless chamber, and the piston rod retracts). During the operation, the extension and retraction displacement of the first outrigger cylinder 51 can be adjusted by controlling the control current of the first proportional valve 31. The control of the second outrigger cylinder 52, the third outrigger cylinder 53, and the fourth outrigger cylinder 54 is similar. Under different flow rates and pressures, the extension and retraction displacements of the various outrigger cylinders may be inconsistent. Adjusting this using a throttle valve is very difficult and unstable. Therefore, this embodiment uses real-time data from displacement sensors to feed back the control current of each proportional valve, which can more stably and reliably ensure the synchronous movement of each outrigger. In actual operation, if inconsistent extension and retraction displacements of the various outrigger cylinders are found, the cylinder displacement can be adjusted by adjusting the control current of the corresponding proportional valve to ensure synchronous movement between the outriggers.

[0024] In some specific embodiments, both the first reversing valve 21 and the second reversing valve 22 include a reversing valve body. Each reversing valve body has an inlet, a first working port, a second working port, and a return port. The reversing valve body has a left position, a center position, and a right position. By switching the valve core position of the reversing valve body, either the first working port or the second working port can be used as the outlet for oil discharge. When the solenoid valve at the left end of the reversing valve body is energized, the reversing valve body is in the left position, and the inlet and first working ports of the reversing valve body are connected, as are the second working ports and the return port. When the solenoid valve at the right end of the reversing valve body is energized, the reversing valve body is in the right position, and the inlet and second working ports of the reversing valve body are connected, as are the first working ports and the return port. When neither the solenoid valve at the left nor the right end of the reversing valve body is energized, the reversing valve body is in the center position, and the inlet of the reversing valve body is closed. Through the above-described working method, the first reversing valve 21 and the second reversing valve 22 in this embodiment can stably control the extension and retraction movement of the outrigger cylinder.

[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 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, respectively, to obtain the first displacement, the second displacement, the third displacement, and the fourth displacement. 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 mounted 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 synchronization among the outriggers, the first, second, third, and fourth displacements of the first outrigger cylinder 51, the second outrigger cylinder 52, the third outrigger cylinder 53, and the fourth outrigger cylinder 54 should be consistent to achieve simultaneous and synchronized movement 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 current of the first proportional valve 31, the second proportional valve 32, the third proportional valve 33, and the fourth proportional valve 34 to adjust the valve core opening based on the first, second, third, and fourth displacements. By adjusting the control current of each proportional valve, the extension and retraction displacement of the corresponding outrigger can be adaptively adjusted to keep the outriggers 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 and right ends of the proportional valve body; under the action of the spring, the proportional valve body is in the left position in its natural state, and the oil inlet and outlet of the proportional valve body are connected; when the solenoid valve at the right end of the proportional valve body is energized, 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, 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 to hydraulic locks. The hydraulic locks are connected to the oil inlet lines of the rod-side and rodless-side chambers of each outrigger cylinder. The hydraulic locks can block the oil flow after the connected outrigger cylinder has completed its operation, thus fixing the position of the corresponding outrigger and maintaining the load. 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 to a first hydraulic lock 41, a second hydraulic lock 42, a third hydraulic lock 43, and a fourth hydraulic lock 44. Example 2

[0029] Combination Figure 2 Based on the same inventive concept, this embodiment provides a control method for a hydraulic control system for the synchronous movement of a demolition outrigger: 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 after adjustment in step S1 with the third displacement after adjustment 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 of step S3 is that the first displacement is equal to the third displacement, the process ends, and the displacement of the first leg cylinder 51, the second leg cylinder 52, the third leg cylinder 53 and the fourth leg cylinder 54 are synchronized.

[0030] The control method in this embodiment, based on the hydraulic circuit of the control system, collects the extension and retraction displacement of each outrigger cylinder in real time to determine whether there is any asynchrony between the outriggers. Based on the determination result, the control current of the proportional valve corresponding to each outrigger cylinder is adjusted. Through continuous adjustment in multiple steps, the extension and retraction displacement of multiple outrigger cylinders can be kept consistent to ensure that each outrigger moves simultaneously and synchronously.

[0031] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A hydraulic control system for the synchronous movement of a demolition outrigger, characterized in that, include: Hydraulic pump; The first directional valve has its inlet connected to the outlet of the hydraulic pump; the first working port of the first directional valve is connected in parallel to the rodless chamber of the first outrigger cylinder and the second outrigger cylinder; the second working port of the first directional valve is connected in parallel to the inlet of the first proportional valve and the second proportional valve, and the outlets of the first proportional valve and the second proportional valve are respectively connected to the rod chamber of the first outrigger cylinder and the second outrigger cylinder. The second directional valve has its inlet connected to the outlet of the hydraulic pump and in parallel with the inlet of the first directional valve; the first working port of the second directional valve is connected in parallel to the rodless chambers of the third and fourth outrigger cylinders; the second working port of the second directional valve is connected in parallel to the inlets of the third and fourth proportional valves; and the outlets of the third and fourth proportional valves are respectively connected to the rod chambers of the third and fourth outrigger cylinders. The first displacement sensor, the second displacement sensor, the third displacement sensor, and the fourth displacement sensor are used to detect the displacements of the first outrigger cylinder, the second outrigger cylinder, the third outrigger cylinder, and the fourth outrigger cylinder, respectively, so as to obtain the first displacement, the second displacement, the third displacement, and the fourth displacement. The controller is configured to control the control current 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. The first proportional valve, the second proportional valve, the third proportional valve, and the fourth proportional valve 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 its natural state, and the oil inlet and 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 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, the proportional valve body switches to the right position, and the oil inlet of the proportional valve body is cut off.

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

3. The hydraulic control system for synchronous movement of the demolition outriggers according to claim 2, characterized in that, 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 of the reversing valve body is connected to the first working oil port, and the second working oil port of the reversing valve body is connected to the return oil port. 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 connected, and the first working oil port and the return oil port of the reversing valve body are connected. When neither of the solenoid valves on the left nor the right end of the reversing valve body is energized, the reversing valve body is in the neutral 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, second, third, and fourth outrigger cylinders are respectively connected to the first, second, third, and fourth outriggers to drive the corresponding outriggers to move.

5. The hydraulic control system for synchronous movement of the demolition outriggers according to claim 4, characterized in that, The first, second, third, and fourth outrigger cylinders are all connected to hydraulic locks. The hydraulic locks are used to block the oil circuit after the connected outrigger cylinder has completed its operation, thereby fixing the position of the corresponding outrigger.

6. 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 mounted on the piston rods of the first outrigger cylinder, the second outrigger cylinder, the third outrigger cylinder, and the fourth outrigger cylinder.

7. The hydraulic control system for synchronous movement of the demolition outriggers according to claim 1, characterized in that, 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.

8. A hydraulic control method for synchronous movement of a demolition outrigger, characterized in that, The control method, applied to the hydraulic control system for synchronous movement of the demolition outriggers according to any one of claims 1-7, comprises: 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 after adjustment in step S1 with the third displacement after adjustment 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 of step S3 is that the first displacement is equal to the third displacement, the process ends, and the displacement of the first leg cylinder, the second leg cylinder, the third leg cylinder and the fourth leg cylinder are synchronized.

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