A synchronous control system and control method of a universal quick connector

Abstract

The application provides a synchronous control system and control method of a universal quick connector, the system comprising a hydraulic control valve, the hydraulic control valve comprising a swing cylinder proportional control valve and a rotary motor proportional control valve; the swing cylinder proportional control valve is used for controlling the swing direction and swing speed of a lower swing mechanism; when the swing cylinder proportional control valve is located at a first working position, the lower swing mechanism rotates counterclockwise; when the swing cylinder proportional control valve is located at a second working position, the lower swing mechanism rotates clockwise; the rotary motor proportional control valve is used for controlling the rotation direction and rotation angular velocity of a lower rotary mechanism; when a third electromagnet of the rotary motor proportional control valve is electrified and located at a first working position, the lower rotary mechanism rotates clockwise; when a fourth electromagnet of the rotary motor proportional control valve is electrified and located at a second working position, the lower rotary mechanism rotates counterclockwise. The action is synchronized by controlling the current value of the electromagnets at both ends of the rotary motor proportional control valve to adjust the valve opening degree.

Description

Technical Field

[0001] This application relates to a synchronous control system and control method for a universal quick connector, belonging to the field of engineering machinery. Background Technology

[0002] The quick-change device applied to the connection of work implements enables rapid switching between excavator work implements, greatly improving the efficiency of work implement switching and making it more efficient, convenient, safe, and reliable. Moreover, the entire process can be completed by only one person in the control room. During operation, the universal quick-connector requires the lower swing mechanism to swing from the leftmost end to the rightmost end, while the lower rotating mechanism rotates one revolution clockwise or counterclockwise. The swing and rotating mechanisms must be synchronized.

[0003] The existing control of universal quick connectors has the following main drawbacks: the rotation drive and the swing are in the same control loop, and the speed is controlled by a proportional valve without a compensator. As a result, the speed of rotation and swing is greatly affected by the load, the synchronization is poor, and on-site debugging is time-consuming and laborious. Summary of the Invention

[0004] In view of at least one of the above technical problems, this application provides a synchronous control system and control method for a universal quick connector.

[0005] To solve the above-mentioned technical problems, the technical solution adopted in this application is: According to a first aspect of this application, a synchronous control system for a universal quick connector is provided, comprising: a right swing cylinder, a left swing cylinder, a rotary motor, a hydraulic control valve, an upper connecting mechanism, a lower swing mechanism, a lower rotating mechanism, and a central rotating body; the upper connecting mechanism is hinged to the lower swing mechanism, the cylinders of the right and left swing cylinders are respectively hinged to the upper connecting mechanism, and the piston rod ends of the right and left swing cylinders are respectively hinged to the lower swing mechanism for driving the lower swing mechanism to swing; the rotary motor is connected to the lower rotating mechanism via a worm gear mechanism for driving the lower rotating mechanism to rotate; the central rotating body includes a core and a housing that are rotatably connected, the core being connected to the lower swing mechanism, and the housing being connected to the lower rotating mechanism; Hydraulic control valves include oscillating cylinder proportional control valves and rotary motor proportional control valves; A proportional control valve for a swing cylinder is used to control the swing direction and swing speed of the lower swing mechanism; it has at least a first working position and a second working position: when the proportional control valve for a swing cylinder is in the first working position, the small chamber of the right swing cylinder retracts, the large chamber of the left swing cylinder extends, and the lower swing mechanism rotates counterclockwise; when the proportional control valve for a swing cylinder is in the second working position, the large chamber of the right swing cylinder extends, the small chamber of the left swing cylinder retracts, and the lower swing mechanism rotates clockwise. A rotary motor proportional control valve is used to control the rotation direction and angular velocity of the lower rotary mechanism; it has at least a first working position and a second working position: when the third electromagnet of the rotary motor proportional control valve is energized and is located in the first working position, oil enters the first port of the rotary motor, and the lower rotary mechanism rotates clockwise; when the fourth electromagnet of the rotary motor proportional control valve is energized and is located in the second working position, oil enters the second port of the rotary motor, and the lower rotary mechanism rotates counterclockwise.

[0006] In some embodiments, the hydraulic control valve further includes a first set of working ports one, a first set of working ports two, a second set of working ports one, a second set of working ports two, a third set of working ports one, and a third set of working ports two; the large chamber of the right swing cylinder is connected to the second set of working ports one of the hydraulic control valve through a pipeline, the small chamber of the left swing cylinder is connected to the first set of working ports one of the hydraulic control valve through a pipeline, the small chamber of the right swing cylinder is connected to the second set of working ports one of the hydraulic control valve through a pipeline, and the first set of working ports one of the large chamber of the left swing cylinder is connected to the first set of working ports two of the hydraulic control valve through a pipeline; the second port of the rotary motor is connected to the third set of working ports one of the hydraulic control valve through a pipeline, and the first port of the rotary motor is connected to the third set of working ports two of the hydraulic control valve through a pipeline.

[0007] In some embodiments, the hydraulic control valve further includes an oil inlet and an oil return port. The oil inlets of the swing cylinder proportional control valve and the rotary motor proportional control valve are connected to the oil inlet of the hydraulic control valve. The oil return ports of the swing cylinder proportional control valve and the rotary motor proportional control valve are connected to the oil return port of the hydraulic control valve. The first working port of the swing cylinder proportional control valve is connected to the first working port of the second group and the first working port of the first group. The second working port is connected to the second working port of the second group and the first working port of the second group. The first working port of the rotary motor proportional control valve is connected to the first working port of the third group and the second working port of the third group. When the proportional control valve of the swing cylinder is in the first working position, the oil inlet is connected to the second working port, and the first working port is connected to the return oil port; when the proportional control valve of the swing cylinder is in the second working position, the oil inlet is connected to the first working port, and the second working port is connected to the return oil port. When the rotary motor proportional control valve is in the first working position, the oil inlet is connected to the second working port, and the first working port is connected to the oil return port; when the rotary motor proportional control valve is in the second working position, the oil inlet is connected to the first working port, and the second working port is connected to the oil return port.

[0008] In some embodiments, both the swing cylinder proportional control valve and the rotary motor proportional control valve are three-position four-way valves.

[0009] In some embodiments, the synchronization control system of the universal quick connector further includes: Tilt sensor, used to detect the swing angle of the lower swing mechanism; A rotary encoder is used to detect the rotation angle of the lower rotating mechanism.

[0010] Furthermore, in some embodiments, the tilt sensor is mounted on the lower swing mechanism.

[0011] Furthermore, in some embodiments, the rotary encoder is mounted on the central rotating housing.

[0012] According to a second aspect of this application, a control method for the synchronous control system of the aforementioned universal quick connector is provided, comprising: Obtain the swing angle θq of the lower swing mechanism, the rotation angle θx of the lower rotation mechanism, and the actual current value iC of the third / fourth electromagnet of the rotary motor proportional control valve; The theoretical rotational angular velocity n0 of the lower rotating mechanism is calculated based on the swing angle θq of the lower swing mechanism. The actual rotational angular velocity n1 of the lower rotating mechanism is calculated based on the rotation angle θx of the lower rotating mechanism. If n1-n0=0, the current output value of the third / fourth electromagnet controlling the proportional control valve of the rotary motor is i=iC; If n1-n0>0, the current output value of the third / fourth electromagnet controlling the proportional control valve of the rotary motor is i=iC-Δi, until n1=n0; where Δi is the unit current adjustment value. If n1-n0<0, the current output value of the third / fourth electromagnet controlling the proportional control valve of the rotary motor is i=iC+Δi, until n1=n0.

[0013] Furthermore, the synchronous control system of the universal quick connector also includes a controller, which includes a memory and a processor. The memory is used to store instructions, which are used to control the processor to perform operations to execute the control method.

[0014] According to a third aspect of this application, this application also provides an engineering machine equipped with a synchronous control system for the aforementioned universal quick connector.

[0015] The beneficial effects achieved by this application are as follows: This application has the following advantages: (1) The lower swing mechanism and the lower rotating mechanism are synchronized by a synchronous control system. When the lower swing mechanism swings from the leftmost end to the rightmost end, the lower rotating mechanism rotates clockwise or counterclockwise once. (2) The involvement of detection and control systems makes the control accuracy higher and reduces the difficulty of the debugging process. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the installation of the universal quick connector provided in an embodiment of this application; Figure 2 A schematic diagram of the hydraulic principle of the synchronous control system of the universal quick connector provided in the embodiments of this application; Figure 3 This is a schematic diagram of the synchronization control method for the universal quick connector provided in the embodiments of this application.

[0017] In the diagram: right swing cylinder 1, left swing cylinder 2, rotary motor 3, hydraulic control valve 4; swing cylinder proportional control valve 401, rotary motor proportional control valve 402; tilt sensor 5, rotary encoder 6, upper connecting mechanism 7, lower swing mechanism 8, lower rotating mechanism 9, central rotating body 10. Detailed Implementation

[0018] The present application 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 application, and should not be used to limit the scope of protection of the present application.

[0019] In the description of this invention, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0020] In the description of this invention, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0021] Example 1: As Figures 1 to 2 As shown, this embodiment provides a synchronous control system for a universal quick connector, including: a right swing cylinder 1, a left swing cylinder 2, a rotary motor 3, a hydraulic control valve 4, an upper connecting mechanism 7, a lower swing mechanism 8, a lower rotating mechanism 9, and a central rotating body 10. The upper connecting mechanism 7 and the lower swing mechanism 8 are hinged together through a hinge point. The cylinders of the right swing cylinder 1 and the left swing cylinder 2 are respectively hinged to the upper connecting mechanism 7. The piston rod ends of the right swing cylinder 1 and the left swing cylinder 2 are respectively hinged to the lower swing mechanism 8, which are used to drive the lower swing mechanism 8 to swing clockwise and counterclockwise. The rotary motor 3 is connected to the lower rotary mechanism 9 via a worm gear mechanism, and is used to drive the lower rotary mechanism 9 to rotate clockwise and counterclockwise. The central rotating body 10 includes a core and a shell that are rotatably connected. The core is fixedly connected to the lower swing mechanism 8, and the shell is fixedly connected to the lower rotating mechanism 9.

[0022] In this embodiment, the cylinders of the right swing cylinder 1 and the left swing cylinder 2 are respectively connected to the upper connecting mechanism 7 via pins, and the piston rod ends of the right swing cylinder 1 and the left swing cylinder 2 are respectively connected to the lower swing mechanism 8 via pins. When the right swing cylinder 1 extends and the left swing cylinder 2 retracts, the lower swing mechanism 8 swings clockwise. When the left swing cylinder 2 extends and the right swing cylinder 1 retracts, the lower swing mechanism 8 swings counterclockwise.

[0023] In this embodiment, the rotary motor 3 is connected to the worm gear via a spline. The worm gear drives the worm wheel to rotate. The lower part of the worm wheel is connected to the lower rotating mechanism 9, which can rotate together with the worm wheel. When oil enters the first port A3 of the rotary motor 3, the lower rotating mechanism 9 rotates clockwise. When oil enters the second port B3 of the rotary motor 3, the lower rotating mechanism 9 rotates counterclockwise.

[0024] like Figure 2 As shown, the hydraulic control valve 4 includes a swing cylinder proportional control valve 401 and a rotary motor proportional control valve 402; the hydraulic control valve 4 also includes an oil inlet P, an oil return port T, and a first set of working oil ports A and B for connecting the left swing cylinder 2, a second set of working oil ports A1 and B1 for connecting the right swing cylinder 1, and a third set of working oil ports AR and BR for connecting the rotary motor 3; furthermore, the large chamber of the right swing cylinder 1 is connected to the second set of working oil ports of the hydraulic control valve 4 via a pipeline. The first working port A1 of the left swing cylinder 2 is connected to the first working port A of the hydraulic control valve 4 via a pipeline. The second working port A1 of the right swing cylinder 1 is connected to the second working port B of the hydraulic control valve 4 via a pipeline. The second port B3 of the rotary motor 3 is connected to the third working port AR of the hydraulic control valve 4 via a pipeline. The first port A3 of the rotary motor 3 is connected to the third working port BR of the hydraulic control valve 4 via a pipeline.

[0025] Furthermore, both the swing cylinder proportional control valve 401 and the rotary motor proportional control valve 402 are three-position four-way valves, having a first working position, a second working position, and a neutral position.

[0026] In this embodiment, the oil inlets of the swing cylinder proportional control valve 401 and the rotary motor proportional control valve 402 are connected to the oil inlet P of the hydraulic control valve 4, and the oil return ports of the swing cylinder proportional control valve 401 and the rotary motor proportional control valve 402 are connected to the oil return port T of the hydraulic control valve 4. The first working port of the swing cylinder proportional control valve 401 is connected to the second group of working ports A1 and A, and the second working port is connected to the second group of working ports B1 and B. The first working port of the rotary motor proportional control valve 402 is connected to the third group of working ports AR, and the second working port is connected to the third group of working ports BR. When the proportional control valve 401 of the swing cylinder is in the first working position (the first electromagnet Y1 is energized), the oil inlet is connected to the second working port, and the first working port is connected to the return port; when the proportional control valve 401 of the swing cylinder is in the second working position (the second electromagnet Y2 is energized), the oil inlet is connected to the first working port, and the second working port is connected to the return port; when the proportional control valve 401 of the swing cylinder is in the neutral position (neither the first electromagnet Y1 nor the second electromagnet Y2 is energized), the oil inlet is not connected to either the first or second working port, and the first and second working ports are connected to the return port.

[0027] When the rotary motor proportional control valve 402 is in the first working position (the third electromagnet Y3 is energized), the oil inlet is connected to the second working port, and the first working port is connected to the oil return port; when the rotary motor proportional control valve 402 is in the second working position (the fourth electromagnet Y4 is energized), the oil inlet is connected to the first working port, and the second working port is connected to the oil return port; when the rotary motor proportional control valve 402 is in the neutral position (neither the third electromagnet Y3 nor the fourth electromagnet Y4 is energized), the oil inlet, the first working port, the second working port, and the oil return port are not connected to each other.

[0028] The proportional control valve 401 of the swing cylinder is used to control the swing direction and swing speed of the lower swing mechanism 8. When the proportional control valve 401 of the swing cylinder is in the first working position (the first electromagnet Y1 is energized), the small chamber of the right swing cylinder 1 is inlet oil and retracts, the large chamber of the left swing cylinder 2 is inlet oil and extends, and the lower swing mechanism 8 rotates counterclockwise. When the proportional control valve 401 of the swing cylinder is in the second working position (the second electromagnet Y2 is energized), the large chamber of the right swing cylinder 1 is inlet oil and extends, the small chamber of the left swing cylinder 2 is inlet oil and retracts, and the lower swing mechanism 8 rotates clockwise.

[0029] The proportional control valve 402 of the rotary motor is used to control the rotation direction and rotational angular velocity of the lower rotary mechanism 9. When the proportional control valve 402 of the rotary motor is in the first working position (the third electromagnet Y3 is energized), oil enters the first port A3 of the rotary motor 3, and the lower rotary mechanism 9 rotates clockwise. When the proportional control valve 402 of the rotary motor is in the second working position (the fourth electromagnet Y4 is energized), oil enters the second port B3 of the rotary motor 3, and the lower rotary mechanism 9 rotates counterclockwise.

[0030] In some embodiments, the synchronization control system of the universal quick connector further includes: Inclination sensor 5 is installed on the lower swing mechanism 8 and is used to detect the swing angle θq of the lower swing mechanism 8. A rotary encoder 6 is installed in the housing of the central rotating body 10 and is used to detect the rotation angle θx of the lower rotating mechanism 9.

[0031] In this embodiment, as Figure 1 As shown, the tilt sensor 5 is installed on the upper surface of the lower swing mechanism 8, and the rotary encoder 6 is installed at the lower end of the housing of the central rotating body 10.

[0032] Example 2: Based on Example 1, this example provides a control method for the synchronous control system of the above-mentioned universal quick connector, such as... Figure 3 As shown, it includes: Obtain the swing angle θq of the lower swing mechanism, the rotation angle θx of the lower rotation mechanism, and the actual current iC of the third electromagnet Y3 / fourth electromagnet Y4 of the rotary motor proportional control valve; The theoretical rotational angular velocity n0 of the lower rotating mechanism is calculated based on θq; the actual rotational angular velocity n1 of the lower rotating mechanism is calculated based on θx. If n1-n0=0, the current output value of the third electromagnet Y3 / fourth electromagnet Y4 controlling the proportional control valve of the rotary motor is i=iC; If n1-n0>0, the current output value of the third electromagnet Y3 / fourth electromagnet Y4 controlling the proportional control valve of the rotary motor is i=iC-Δi, until n1=n0; where Δi is the unit current adjustment value. If n1-n0<0, the current output value of the third electromagnet Y3 / fourth electromagnet Y4 controlling the proportional control valve of the rotary motor is i=iC+Δi, until n1=n0.

[0033] In this embodiment, the opening of the proportional control valve of the rotary motor is adjusted by controlling the current output value i of the third electromagnet Y3 / fourth electromagnet Y4 of the proportional control valve of the rotary motor, thereby adjusting the rotation speed of the rotary motor and ultimately controlling the rotational angular velocity of the lower rotating mechanism, ensuring that the oscillation period of the lower swing mechanism and the rotation period of the lower rotating mechanism are synchronized.

[0034] Example 3; This application also provides an engineering machine, which is equipped with the above-mentioned universal quick connector synchronous control system.

[0035] In some embodiments, the construction machinery includes, but is not limited to, excavators.

[0036] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0037] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0038] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0039] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0040] The above description is only a preferred embodiment of this application. 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 this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A synchronous control system for a universal quick connector, characterized in that, include: The system comprises a right-side swing cylinder, a left-side swing cylinder, a rotary motor, a hydraulic control valve, an upper connecting mechanism, a lower swing mechanism, a lower rotating mechanism, and a central rotating body. The upper connecting mechanism is hinged to the lower swing mechanism. The cylinders of the right-side and left-side swing cylinders are respectively hinged to the upper connecting mechanism, and the piston rods of the right-side and left-side swing cylinders are respectively hinged to the lower swing mechanism to drive the lower swing mechanism to swing. The rotary motor is connected to the lower rotating mechanism via a worm gear mechanism to drive the lower rotating mechanism to rotate. The central rotating body includes a core and a shell that are rotatably connected. The core is connected to the lower swing mechanism, and the shell is connected to the lower rotating mechanism. Hydraulic control valves include oscillating cylinder proportional control valves and rotary motor proportional control valves; A proportional control valve for a swing cylinder is used to control the swing direction and swing speed of the lower swing mechanism; it has at least a first working position and a second working position: when the proportional control valve for a swing cylinder is in the first working position, the small chamber of the right swing cylinder retracts, the large chamber of the left swing cylinder extends, and the lower swing mechanism rotates counterclockwise; when the proportional control valve for a swing cylinder is in the second working position, the large chamber of the right swing cylinder extends, the small chamber of the left swing cylinder retracts, and the lower swing mechanism rotates clockwise. A rotary motor proportional control valve is used to control the rotation direction and angular velocity of the lower rotary mechanism; it has at least a first working position and a second working position: when the third electromagnet of the rotary motor proportional control valve is energized and is located in the first working position, oil enters the first port of the rotary motor, and the lower rotary mechanism rotates clockwise; when the fourth electromagnet of the rotary motor proportional control valve is energized and is located in the second working position, oil enters the second port of the rotary motor, and the lower rotary mechanism rotates counterclockwise.

2. The synchronous control system for the universal quick connector according to claim 1, characterized in that, The hydraulic control valve also includes a first set of working ports 1, 2, 1, 2, 1, 2, 1, and 2; the large chamber of the right swing cylinder is connected to the second set of working ports 1 of the hydraulic control valve via a pipeline; the small chamber of the left swing cylinder is connected to the first set of working ports 1 of the hydraulic control valve via a pipeline; the small chamber of the right swing cylinder is connected to the second set of working ports 1 of the hydraulic control valve via a pipeline; the large chamber of the left swing cylinder is connected to the first set of working ports 2 of the hydraulic control valve via a pipeline; the second port of the rotary motor is connected to the third set of working ports 1 of the hydraulic control valve via a pipeline; and the first port of the rotary motor is connected to the third set of working ports 2 of the hydraulic control valve via a pipeline.

3. The synchronous control system for the universal quick connector according to claim 1, characterized in that, The hydraulic control valve also includes an oil inlet and an oil return port. The oil inlets of the swing cylinder proportional control valve and the rotary motor proportional control valve are connected to the oil inlet of the hydraulic control valve. The oil return ports of the swing cylinder proportional control valve and the rotary motor proportional control valve are connected to the oil return port of the hydraulic control valve. The first working port of the swing cylinder proportional control valve is connected to the first working port of the second group and the first working port of the first group. The second working port is connected to the second working port of the second group and the first working port of the second group. The first working port of the rotary motor proportional control valve is connected to the first working port of the third group and the second working port of the third group. When the proportional control valve of the swing cylinder is in the first working position, the oil inlet is connected to the second working port, and the first working port is connected to the return oil port; when the proportional control valve of the swing cylinder is in the second working position, the oil inlet is connected to the first working port, and the second working port is connected to the return oil port. When the rotary motor proportional control valve is in the first working position, the oil inlet is connected to the second working port, and the first working port is connected to the oil return port; when the rotary motor proportional control valve is in the second working position, the oil inlet is connected to the first working port, and the second working port is connected to the oil return port.

4. The synchronous control system for the universal quick connector according to claim 1, characterized in that, Both the proportional control valve for the swing cylinder and the proportional control valve for the rotary motor are three-position four-way valves.

5. The synchronous control system for the universal quick connector according to claim 1, characterized in that, Also includes: Tilt sensor, used to detect the swing angle of the lower swing mechanism; A rotary encoder is used to detect the rotation angle of the lower rotating mechanism.

6. The synchronous control system for the universal quick connector according to claim 5, characterized in that, The tilt sensor is mounted on the lower swing mechanism.

7. The synchronous control system for the universal quick connector according to claim 5, characterized in that, The rotary encoder is mounted on the central rotating housing.

8. The control method for the synchronous control system of the universal quick connector according to any one of claims 1-7, characterized in that, include: Obtain the swing angle θq of the lower swing mechanism, the rotation angle θx of the lower rotation mechanism, and the actual current value iC of the third / fourth electromagnet of the rotary motor proportional control valve; The theoretical rotational angular velocity n0 of the lower rotating mechanism is calculated based on the swing angle θq of the lower swing mechanism. The actual rotational angular velocity n1 of the lower rotating mechanism is calculated based on the rotation angle θx of the lower rotating mechanism. If n1-n0=0, the current output value of the third / fourth electromagnet controlling the proportional control valve of the rotary motor is i=iC; If n1-n0>0, the current output value of the third / fourth electromagnet controlling the proportional control valve of the rotary motor is i=iC-Δi, until n1=n0; where Δi is the unit current adjustment value. If n1-n0<0, the current output value of the third / fourth electromagnet controlling the proportional control valve of the rotary motor is i=iC+Δi, until n1=n0.

9. The synchronous control system for the universal quick connector according to any one of claims 1-7, characterized in that, It also includes a controller, which includes a memory and a processor, the memory for storing instructions for controlling the processor to operate in order to execute the control method according to claim 8.

10. An engineering machinery, characterized in that, The engineering machinery is equipped with a synchronous control system for the universal quick connector as described in any one of claims 1-7 and 9.

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