Hydraulic control system and working machine

Abstract

The utility model belongs to the technical field of operation machinery, and particularly relates to a hydraulic control system and operation machinery. The oil supply path is used for supplying oil to the actuating mechanisms; the multi-way valve is arranged on the oil supply way and comprises a plurality of control valves, the control valves correspond to the execution mechanisms one to one, and two working oil ports of the control valves communicate with two working oil ports of the execution mechanisms one to one; the detection module comprises a Hall sensor arranged on each control valve, and the Hall sensor is used for detecting the position of a valve element of each control valve; the control module is electrically connected with the detection module and used for obtaining the action direction of the execution mechanism according to the position of the valve element; and the unloading valve is arranged on an oil way between the oil supply way and the oil tank, and when the executing mechanism exceeds the safety range and the action direction of the executing mechanism is far away from the safety direction, the unloading valve is used for unloading the oil supply way so as to avoid safety accidents in the moving process of the boom.

Description

Technical Field

[0001] This utility model belongs to the field of work machinery technology, specifically relating to a hydraulic control system and work machinery. Background Technology

[0002] Boom-type lifting machinery is characterized by its compact structure, wide operating range, high operating efficiency, and high safety, and is widely used in various fields such as construction, transportation, power, and communications. With social and technological development, boom-type lifting machinery will inevitably evolve towards functional diversification, equipment specialization, and multi-device collaboration, which also places higher demands on operational safety.

[0003] Boom-type lifting machinery is typically equipped with a safety limiting system to prevent the equipment from exceeding a set safe range during operation, which could lead to accidents such as equipment tipping, material falling, or personal injury. Currently, the most common method for boom safety limiting involves installing a shut-off valve in the hydraulic circuit of each end effector related to the boom's working posture. The opening and closing of these valves is controlled according to the boom's working posture, thereby controlling the movement of each actuator. When an actuator is outside the safe range, the shut-off valve is opened, thus limiting the actuator's movement. However, even when the boom is in the safety limiting state, other actuators can cause the limiting actuator to undergo compound movements, resulting in the lifting machinery constantly operating at the safety boundary, which can easily lead to accidents. Utility Model Content

[0004] The purpose of this invention is to provide a hydraulic control system and a working machine to solve the safety hazards existing in the boom control of working machines in the prior art.

[0005] To achieve the above objectives, this utility model provides a hydraulic control system, which is applied to operating machinery and includes:

[0006] Multiple implementing agencies;

[0007] The oil supply circuit is used to supply oil to multiple actuators;

[0008] A multi-way valve is located on the oil supply line and includes multiple control valves. Each control valve is configured to correspond to a multiple actuator, and the two working ports of the control valve are connected to the two working ports of the actuator.

[0009] The detection module includes a Hall sensor installed on each control valve, which is used to detect the valve core position of each control valve.

[0010] The unloading valve is located on the oil line between the oil supply line and the hydraulic oil tank.

[0011] The control module is electrically connected to the detection module and the unloading valve.

[0012] In some embodiments, the Hall sensor includes a detection unit and a sensing unit. The detection unit is installed on the inner wall of the mounting cavity where the valve core is located and is disposed near the axial end. The sensing unit is installed on the end of the valve core and is disposed near the detection unit. The detection unit is used to acquire the relative distance between the sensing unit and the detection unit in real time.

[0013] In some embodiments, the valve body of the control valve has an installation port that connects to the mounting cavity where the valve core is located. The Hall sensor includes a detection part and a sensing part. The sensing part is installed at the end of the valve core and is located near the installation port, while the detection part is installed at the installation port and is located towards the sensing part.

[0014] In some implementations, the detection module further includes: multiple attitude detection components, all of which are communicatively connected to the control module, and the multiple attitude detection components are configured one-to-one with multiple actuators.

[0015] In some embodiments, the multiple actuators are a telescopic cylinder, a luffing cylinder, and a slewing motor, and the multiple attitude detection components are an angle sensor, a length sensor, and an encoder. The angle sensor is correspondingly set to the luffing cylinder and is used to detect the luffing angle of the working machine. The length sensor is correspondingly set to the telescopic cylinder and is used to detect the telescopic length. The encoder is correspondingly set to the slewing motor and is used to detect the slewing angle of the working machine.

[0016] In some embodiments, the oil supply circuit includes an inlet oil circuit and a return oil circuit. The hydraulic control system further includes: a hydraulic oil tank, an unloading valve and an oil supply circuit that are all connected to the hydraulic oil tank; a hydraulic pump, the inlet end of which is connected to the hydraulic oil tank, the outlet end of which is connected to the control valve through the inlet oil circuit, and the unloading valve connected to the unloading oil circuit between the inlet oil circuit and the hydraulic oil tank.

[0017] In some embodiments, the hydraulic control system further includes a relief valve connected in a connecting line between the inlet oil line and the return oil line.

[0018] In some embodiments, the hydraulic control system further includes a balance valve assembly, which is disposed in the working oil circuit of the actuator and connected to the two working oil ports of the actuator.

[0019] In some embodiments, the working oil circuit of the actuator includes a first working oil circuit and a second working oil circuit connected between the control valve and the actuator. The balance valve assembly includes: a first pilot relief valve disposed on the first working oil circuit, with its pilot port connected to the second working oil circuit; a second pilot relief valve disposed on the second working oil circuit, with its pilot port connected to the first working oil circuit; a first check valve, with both ends connected to the two working ends of the first pilot relief valve, and used to supply oil unidirectionally to the first working oil port of the actuator; and a second check valve, with both ends connected to the two working ends of the second pilot relief valve, and used to supply oil unidirectionally to the second working oil port of the actuator.

[0020] The second aspect of this utility model provides a working machine, including the aforementioned hydraulic control system.

[0021] In the above technical solution, the hydraulic control system includes multiple actuators, an oil supply circuit, a multi-way valve, a detection module, a control module, and an unloading valve. The oil supply circuit supplies oil to the multiple actuators. The multi-way valve is located on the oil supply circuit and includes multiple control valves, each corresponding to one of the actuators. The two working ports of each control valve can connect to the two working ports of each actuator. The detection module includes a Hall sensor on each control valve. The Hall sensor can detect the valve spool position in real time and send the detection signal to the control module. The control module receives the detection signal from the Hall sensor and determines the direction of the actuator's movement based on the valve spool position. When the actuator exceeds the preset safety range and its direction of movement deviates from the safe direction, the control module sends a command to the unloading valve to activate it, unloading the oil supply circuit and preventing the actuator from continuing to move beyond the safe range, thereby ensuring the safety of the working machinery. Furthermore, by detecting the valve spool position of the control valve in real time, the movement state of the actuator can be accurately grasped, improving the accuracy and response speed of the control. The hydraulic control system of this invention not only improves the safety of the operating machinery, but also enhances its stability and reliability, providing a new solution for the safety control of boom-type operating machinery.

[0022] Other features and advantages of this invention will be described in detail in the following detailed description section. Attached Figure Description

[0023] The accompanying drawings are provided to further illustrate the embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without any inventive effort. In the drawings:

[0024] Figure 1 The hydraulic schematic diagram is provided for the hydraulic control system according to the embodiments of this utility model.

[0025] Figure 2 This is a structural block diagram of the hydraulic control system provided according to an embodiment of the present utility model;

[0026] Figure 3 This is a control flowchart of the hydraulic control system provided according to an embodiment of the present utility model.

[0027] Explanation of reference numerals in the attached figures

[0028] More than 10 implementing agencies

[0029] 11 Telescopic hydraulic cylinder

[0030] 12 Luffing cylinders

[0031] 13 Rotary Motor

[0032] 20-way valve

[0033] 21 Control valve

[0034] 30 Unloading valve

[0035] 40 Hydraulic oil tank

[0036] 50 hydraulic pump

[0037] 60 Overflow valve

[0038] 70 Balance valve assembly

[0039] 71 First pilot relief valve

[0040] 72 Second pilot relief valve

[0041] 73 First check valve

[0042] 74 Second check valve

[0043] L1 oil inlet circuit

[0044] L2 return oil circuit

[0045] L3 First Working Oil Circuit

[0046] L4 Second Working Oil Circuit

[0047] L5 Unloading oil circuit Detailed Implementation

[0048] The specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of this utility model.

[0049] The hydraulic control system and working machinery according to the present invention are described below with reference to the accompanying drawings.

[0050] like Figure 1 The diagram shown is a hydraulic schematic of a hydraulic control system provided according to an embodiment of the present invention; as shown... Figure 2 The diagram shown is a structural block diagram of a hydraulic control system provided according to an embodiment of the present invention.

[0051] The hydraulic control system provided by this utility model is applied to operating machinery and includes:

[0052] Multiple implementing agencies (10);

[0053] The oil supply circuit is used to supply oil to multiple actuators 10;

[0054] A multi-way valve 20 is located on the oil supply line and includes multiple control valves 21. The multiple control valves 21 are configured one-to-one with multiple actuators 10, and the two working ports of the control valves 21 are connected one-to-one with the two working ports of the actuators.

[0055] The detection module (not shown in the figure) includes a Hall sensor installed on each control valve 21, which is used to detect the valve core position of each control valve 21.

[0056] The unloading valve 30 is located on the oil line between the oil supply line and the hydraulic oil tank 40. ；

[0057] The control module is electrically connected to the detection module and the unloading valve 30.

[0058] The actuators of the operating machinery are hydraulically driven devices such as hydraulic cylinders or hydraulic motors. These actuators receive hydraulic oil from the oil supply circuit through control valves 21 connected to the multi-way valve 20, thereby realizing actions such as extension, luffing, or rotation. The oil supply circuit can supply oil to multiple actuators 10. The multi-way valve 20 is located on the oil supply circuit and includes multiple control valves 21. These control valves 21 play a key control role in the hydraulic system. Each control valve 21 is set one-to-one with the corresponding actuator to ensure precise distribution and flow of hydraulic oil. The two working ports of the control valve 21 are connected one-to-one with the two working ports of the actuator through oil circuits. When the control valve 21 is activated, it can accurately control the movement state of the actuator. The detection module includes Hall sensors installed on each control valve 21. The Hall sensors can detect the valve core position of each control valve 21 and send it to the control module. The control module is electrically connected to the detection module and determines the direction of the actuator's movement based on the change in the valve core position. When the actuator exceeds the preset safety range and its direction of movement is away from the safe direction, the control module will react quickly. Specifically, the control module sends a command to the unloading valve 30, instructing it to actuate and unload the oil supply circuit, preventing it from continuing to move and exceeding the safe range. This design not only improves the safety of the operating machinery but also effectively avoids accidents such as equipment damage or personal injury caused by the actuators exceeding the safe range. Determining whether the actuators have exceeded the preset safe range can be achieved by detecting the actuators' posture. For example, laser sensors or millimeter-wave radar can be used to detect the boom's posture, thereby determining whether each actuator of the boom has exceeded the preset safe range.

[0059] In one embodiment, the Hall sensor includes a detection unit (not shown) and a sensing unit (not shown). The detection unit is mounted on the inner wall of the mounting cavity where the valve core is located and is positioned near the axial end. The sensing unit is mounted on the end of the valve core and is positioned near the detection unit. The detection unit is used to acquire the relative distance between the sensing unit and the detection unit in real time. The Hall sensor is a sensor based on the principle of magnetic induction. Its detection unit can sense changes in the relative distance between the sensing unit and the detection unit and convert these changes into electrical signals. The detection unit of the Hall sensor is mounted on the inner wall of the mounting cavity where the valve core is located and is positioned near the axial end. The sensing unit is mounted on the end of the valve core and is positioned near the detection unit. The detection unit detects and determines the relative distance between itself and the sensing unit and converts it into an electrical signal, which is then sent to the control module. Specifically, when the valve core moves, the sensing unit moves accordingly, thereby changing the relative distance between itself and the detection unit. This distance change is captured by the detection unit and converted into a corresponding electrical signal. After receiving these electrical signals, the control module processes and analyzes them to accurately determine the position of the valve core and the direction of motion of the actuator. This design not only improves the accuracy of detection but also enhances the system's response speed, enabling the machinery to react quickly when faced with safety hazards and ensuring operational safety.

[0060] In one embodiment, the control valve 21 has a mounting port on its valve body that connects to the mounting cavity where the valve core is located. The Hall sensor includes a detection part and a sensing part. The sensing part is mounted on the end of the valve core and positioned near the mounting port, while the detection part is mounted on the mounting port and faces the sensing part. The mounting port on the control valve 21 allows for the detachable installation of the detection part. The fact that the detection part is mounted on the mounting port and faces the sensing part ensures that the detection part can accurately detect changes in the position of the sensing part. This configuration not only improves the ease of installation of the Hall sensor but also enhances the accuracy of detection and the stability of the system, further strengthening the safety performance of the machinery. Furthermore, if the control valve 21 is used on machinery where valve core position detection is not required, a sealing element can be used to seal the mounting port. This structure allows the control valve 21 to adapt to various application scenarios, improving its practicality and versatility.

[0061] In one embodiment, the detection module further includes multiple attitude detection components, all communicatively connected to the control module, with each attitude detection component corresponding to one of the multiple actuators 10. The attitude detection components can detect the real-time attitude of the actuators and send the detected attitude information to the control module. After receiving these attitude detection signals, the control module compares them with internally preset safety range parameters to accurately determine whether the actuator has exceeded the preset safety range. When the actuator exceeds the preset safety range, and the direction of movement of the actuator is away from the safety range, the control module will immediately take corresponding measures, such as sending a command to the unloading valve 30 to perform an unloading operation, to prevent the actuator from continuing to move and potentially causing a safety accident. This design not only improves the safety performance of the operating machinery but also enhances its intelligence and automation level, enabling operators to perform operations more conveniently and safely.

[0062] In one embodiment, such as Figure 1 As shown, the multiple actuators 10 are a telescopic cylinder 11, a luffing cylinder 12, and a slewing motor 13, respectively. The multiple attitude detection components are an angle sensor, a length sensor, and an encoder. The angle sensor is set to correspond with the luffing cylinder 12 and is used to detect the luffing angle of the working machine. The length sensor is set to correspond with the telescopic cylinder 11 and is used to detect the telescopic length of the telescopic cylinder 11. The encoder is set to correspond with the slewing motor 13 and is used to detect the slewing angle of the working machine.

[0063] The telescopic cylinder 11 provides power for the telescopic movement of the working machinery, adjusting its working range by changing its telescopic length. The luffing cylinder 12 changes the boom's amplitude, i.e., the angle between the boom and the ground, thereby adjusting the working height and range. The slewing motor 13 drives the boom to rotate, achieving omnidirectional work coverage. To precisely control the movement of these actuators and ensure they operate within safe limits, this invention employs length sensors, angle sensors, and encoders corresponding to the telescopic cylinder 11, luffing cylinder 12, and slewing motor 13 as attitude detection components. The angle sensor detects the luffing angle of the luffing cylinder 12 in real time, ensuring the boom operates within a safe amplitude range. The length sensor monitors the telescopic length of the telescopic cylinder 11, preventing it from exceeding the preset telescopic range. The encoder is connected to the slewing motor 13, detecting the slewing angle of the working machinery in real time, ensuring it operates within a safe rotation range. The adoption of the aforementioned actuators and attitude detection components not only improves the detection accuracy and control precision of the hydraulic control system but also enhances the overall performance and safety of the operating machinery. By combining these attitude detection components with the control module, comprehensive monitoring and precise control of the actuator's motion status are achieved, further improving the safety and stability of the operating machinery.

[0064] In one embodiment, such as Figure 1 As shown, the oil supply circuit includes an inlet oil circuit L1 and a return oil circuit L2. The hydraulic control system also includes a hydraulic oil tank 40 and a hydraulic pump 50. The unloading valve 30 and the oil supply circuit are both connected to the hydraulic oil tank 40. The inlet end of the hydraulic pump 50 is connected to the hydraulic oil tank 40, and the outlet end of the hydraulic pump 50 is connected to the control valve 21 via the inlet oil circuit L1. The unloading valve 30 is connected to the unloading oil circuit L5 between the inlet oil circuit L1 and the hydraulic oil tank 40. The hydraulic oil tank 40 provides hydraulic oil to the entire hydraulic control system and serves to store, settle, and cool the hydraulic oil. The hydraulic pump 50 is responsible for drawing hydraulic oil from the hydraulic oil tank 40 and delivering it to each control valve 21 via the inlet oil circuit L1, providing power for the movement of the actuators. When performing an unloading operation, the unloading valve 30 can return the hydraulic oil in the inlet oil circuit L1 to the hydraulic oil tank 40 to unload the oil supply circuit. During the operation of the machinery, the hydraulic pump 50 continuously draws hydraulic oil from the hydraulic oil tank 40 and delivers it to each control valve 21 through the oil inlet circuit L1. When the control valve 21 actuates, the hydraulic oil is precisely distributed to the corresponding actuator, thereby driving it to perform actions such as extension, luffing, or rotation. When the actuator exceeds the preset safety range and its direction of movement deviates from the safe direction, the control module reacts quickly and commands the unloading valve 30 to actuate. At this time, the unloading valve 30 unloads the hydraulic oil in the oil inlet circuit L1 into the hydraulic oil tank 40, effectively preventing the actuator from continuing to move and preventing accidents. The hydraulic control system described above not only ensures a stable supply of hydraulic oil but also improves the reliability and safety of the system.

[0065] In one embodiment, such as Figure 1 As shown, the hydraulic control system also includes a relief valve 60 connected to the oil inlet circuit L1 and the oil return circuit L2. The relief valve 60 serves a safety protection function; when the hydraulic oil pressure in the oil inlet circuit L1 exceeds the relief pressure value of the relief valve 60, the relief valve 60 will release hydraulic oil to the oil return circuit L2 to protect other components in the hydraulic system from damage. The relief valve 60 allows the hydraulic control system to automatically adjust in the face of abnormal conditions, ensuring stable system operation.

[0066] In one embodiment, such as Figure 1As shown, the hydraulic control system also includes a balance valve assembly 70, which is located in the working oil circuit of the actuator and connected to the two working oil ports of the actuator. The balance valve assembly 70 is an important component for controlling the motion state of the actuator, effectively preventing accidental movement due to gravity or load when the actuator stops working. The balance valve assembly 70 further enhances the safety and stability of the hydraulic control system. Specifically, when the actuator needs to stop at a certain position, the balance valve assembly 70 can lock its working oil circuit, preventing the flow of hydraulic oil, thereby ensuring that the actuator remains stationary in its current position. Thus, even under external load or gravity, the actuator will not undergo accidental extension, luffing, or rotation, avoiding safety hazards. In a specific embodiment, the balance valve assembly 70 is a double-orifice plate balance valve. The double-orifice plate balance valve has a compact structure and stable operation, effectively meeting the control requirements of the hydraulic control system for the motion state of the actuator.

[0067] In one embodiment, such as Figure 1 As shown, the working oil circuit of the actuator includes a first working oil circuit L3 and a second working oil circuit L4 connected between the control valve 21 and the actuator. The balance valve group 70 includes: a first pilot relief valve 71, a second pilot relief valve 72, a first check valve 73, and a second check valve 74. The first pilot relief valve 71 is disposed on the first working oil circuit L3, and its pilot port is connected to the second working oil circuit L4. The second pilot relief valve 72 is disposed on the second working oil circuit L4, and its pilot port is connected to the first working oil circuit L3. The two ends of the first check valve 73 are respectively connected to the two working ends of the first pilot relief valve 71 and are used to supply oil unidirectionally to the first working oil port of the actuator. The two ends of the second check valve 74 are respectively connected to the two working ends of the second pilot relief valve 72 and are used to supply oil unidirectionally to the second working oil port of the actuator.

[0068] When hydraulic oil pressure exists in the first working oil circuit L3, the hydraulic oil flows to the actuator via the first check valve 73. The pressurized hydraulic oil in the first working oil circuit L3 flows to the pilot port of the second pilot relief valve 72, thus opening the second working oil circuit L4. Hydraulic oil in the actuator can then flow from the second working oil circuit L4 to the control valve 21. When hydraulic oil pressure exists in the second working oil circuit L4, the hydraulic oil flows to the actuator via the second check valve 74. The pressurized hydraulic oil in the second working oil circuit L4 flows to the pilot port of the first pilot relief valve 71, thus opening the first working oil circuit L3. Hydraulic oil in the actuator can then flow from the first working oil circuit L3 to the control valve 21. When the control valve 21 is in the neutral position, there is no pressurized hydraulic oil in either working oil circuit. Both pilot relief valves 60 are closed, and the two check valves cut off the hydraulic oil in the actuator, preventing its flow and keeping the actuator in its current position. This design not only improves the control accuracy and stability of the hydraulic control system, but also effectively protects the actuator from accidental damage, further enhancing the safety and reliability of the operating machinery.

[0069] In a specific embodiment, such as Figure 3 The diagram shown is a control flowchart of the hydraulic control system provided according to an embodiment of the present invention. The attitude detection component detects the boom luffing angle, telescopic length, and slewing angle in real time. The control module acquires these three parameters in real time and determines the current working attitude. It also acquires the detection signal from the Hall sensor. When the current working attitude is determined to be outside the safe range and the boom's movement direction is away from the safe range, the control module controls the unloading valve 30 to open to unload the oil supply circuit. When the working attitude is within the safe range or the boom is moving in the direction of the safe range, the unloading valve 30 closes, allowing the boom to continue moving.

[0070] In one embodiment, a working machine is provided, including the hydraulic control system described above.

[0071] In the description of this utility model, it should be understood that the terms "first" and "second" 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. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0072] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0073] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present 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. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0074] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A hydraulic control system, characterized in that, The hydraulic control system is applied to the operating machinery and includes: Multiple implementing agencies (10); An oil supply circuit is used to supply oil to the multiple actuators mentioned above; A multi-way valve (20) is provided on the oil supply line and includes multiple control valves (21). The multiple control valves (21) are configured one-to-one with the multiple actuators. The two working ports of the control valves (21) are connected one-to-one with the two working ports of the actuators. The detection module includes a Hall sensor disposed on each of the control valves (21), the Hall sensor being used to detect the valve core position of each of the control valves (21); An unloading valve (30) is located on the oil line between the oil supply line and the hydraulic oil tank (40); The control module is electrically connected to the detection module and the unloading valve (30).

2. The hydraulic control system according to claim 1, characterized in that, The Hall sensor includes a detection unit and a sensing unit. The detection unit is installed on the inner wall of the mounting cavity where the valve core is located and is located near the axial end. The sensing unit is installed on the end of the valve core and is located near the detection unit. The detection unit is used to obtain the relative distance between the sensing unit and the detection unit in real time.

3. The hydraulic control system according to claim 1, characterized in that, The control valve (21) has an installation port on its valve body that connects to the mounting cavity where the valve core is located. The Hall sensor includes a detection part and a sensing part. The sensing part is installed at the end of the valve core and is located near the installation port. The detection part is installed at the installation port and is located towards the sensing part.

4. The hydraulic control system according to claim 1, characterized in that, The detection module also includes: Multiple attitude detection components are communicatively connected to the control module, and each of the multiple attitude detection components is configured to correspond one-to-one with one of the multiple actuators.

5. The hydraulic control system according to claim 4, characterized in that, The plurality of actuators are a telescopic cylinder (11), a luffing cylinder (12), and a slewing motor (13). The plurality of attitude detection components are an angle sensor, a length sensor, and an encoder. The angle sensor is configured corresponding to the luffing cylinder (12) and is used to detect the luffing angle of the working machine. The length sensor is configured corresponding to the telescopic cylinder (11) and is used to detect the telescopic length of the telescopic cylinder (11). The encoder is configured corresponding to the slewing motor (13) and is used to detect the slewing angle of the working machine.

6. The hydraulic control system according to claim 1, characterized in that, The oil supply circuit includes an inlet oil circuit (L1) and a return oil circuit (L2), and the hydraulic control system further includes: The hydraulic oil tank (40) is connected to the unloading valve (30) and the oil supply line. A hydraulic pump (50) is provided, with its inlet end connected to the hydraulic oil tank (40) and its outlet end connected to the control valve (21) via the inlet oil passage (L1). The unloading valve (30) is connected to the unloading oil passage (L5) between the inlet oil passage (L1) and the hydraulic oil tank (40).

7. The hydraulic control system according to claim 6, characterized in that, The hydraulic control system also includes: An overflow valve (60) is connected to the connecting oil line between the inlet oil line (L1) and the return oil line (L2).

8. The hydraulic control system according to any one of claims 1 to 7, characterized in that, The hydraulic control system also includes: A balance valve assembly (70) is provided on the working oil circuit of the actuator and connected to the two working oil ports of the actuator.

9. The hydraulic control system according to claim 8, characterized in that, The working oil circuit of the actuator includes a first working oil circuit (L3) and a second working oil circuit (L4) connected between the control valve (21) and the actuator. The balance valve assembly (70) includes: A first pilot relief valve (71) is installed on the first working oil circuit (L3), and the pilot port of the first pilot relief valve (71) is connected to the second working oil circuit (L4). The second pilot relief valve (72) is installed on the second working oil circuit (L4), and the pilot oil port of the second pilot relief valve (72) is connected to the first working oil circuit (L3); The first one-way valve (73) is connected to the two working ends of the first pilot relief valve (71) at both ends, and is used to supply oil to the first working port of the actuator in one direction. The second check valve (74) is connected to the two working ends of the second pilot relief valve (72) at both ends, and is used to supply oil to the second working port of the actuator in one direction.

10. A type of operating machinery, characterized in that, The hydraulic control system includes any one of claims 1 to 9.

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