A working arm for demolition operations and a reset control method

Abstract

The present invention discloses a working arm and reset control method for demolition operations, belonging to the field of engineering machinery; the working arm comprises: a multi-section working arm, a machine, a rotary platform, an electric control multi-way valve, and a controller; the multi-section working arm is arranged on the rotary platform, and the cylinder assembly is arranged on the multi-section working arm, for controlling the folding and unfolding of the multi-section working arm individually or in combination; the machine is connected to one end of the multi-section working arm, the electric control multi-way valve is connected to the cylinder assembly, and the controller is electrically connected to the electric control multi-way valve, wherein a reset control algorithm is preset in the controller, for controlling the electric control multi-way valve in sequence according to the reset control algorithm to drive the cylinder assembly to switch the power output sequence, for controlling the flow state of hydraulic oil in the cylinder assembly, thereby switching the order of power output of the cylinder assembly, and driving the multi-section working arm to reset in a preset sequence or route. The one-button reset of the present invention enables the working arm to have emergency response capabilities for dangerous operations and improves the safety and reliability of construction.

Description

Technical Field

[0001] The present invention belongs to the field of engineering machinery, and in particular relates to a working arm for demolition operations and a reset control method. Background Art

[0002] Existing demolition robots are generally small and compact, with high power, precise control, and flexible maneuverability. They are mainly used for fire rescue, mine tunnel excavation, and metallurgical and cement kiln crushing. They have characteristics such as high site danger, confined and narrow space, and poor air circulation. As a result, the operating environment of demolition robots is narrow and the working locations are diverse. Therefore, the robot arm must be able to quickly reset to its initial minimum space state at any time during operation to have emergency response capabilities, thereby extending the life of the equipment.

[0003] The existing robotic arm reset control is usually based on the operator's judgment, and the three or more sections of the arm are retracted to their original state through the corresponding handle control in sequence. Therefore, the existing robotic arm is complex to operate, labor-intensive, and has low operating efficiency. It also lacks the ability to respond to emergencies in a short period of time, making on-site operations very dangerous. Summary of the Invention

[0004] Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a working arm and a reset control method for demolition operations. Based on the structural design of the machine working arm of the present invention, the sequential control preset in the controller, combined with the real-time pressure data fed back by the pressure sensor, the working arm is controlled in a preset sequence during actual operation according to the prescribed route or corresponding control strategy, and is quickly reset with one button, which has the emergency response capability for dangerous operations and improves the safety and reliability of construction.

[0005] Technical solution: In the first aspect, the present invention provides a working arm, comprising:

[0006] A slewing platform, a multi-section working arm mounted on the slewing platform, a cylinder assembly mounted on the multi-section working arm, a tool connected to one end of the multi-section working arm, an electrically controlled multi-way valve connected to the cylinder assembly, and a controller electrically connected to the electrically controlled multi-way valve;

[0007] The controller is preset with a reset control algorithm, which is used to control the electronically controlled multi-way valve in sequence according to the reset control algorithm to drive the cylinder assembly to switch the power output sequence, and by switching the power output sequence of the cylinder assembly, drive the multi-section working arm to reset in an orderly manner.

[0008] In a further embodiment, the multi-section working arm includes: a first working arm hinged on the rotating platform, a second working arm hinged at one end of the first working arm, a third working arm hinged at one end of the second working arm, and an implement connecting seat hinged at one end of the third working arm.

[0009] In a further embodiment, the tool connecting base is fixedly connected to the tool by a plurality of bolts.

[0010] In a further embodiment, the cylinder assembly includes: a first cylinder hinged on the slewing platform, a second cylinder hinged on the end of the first working arm, a third cylinder hinged on the second working arm, and a fourth cylinder hinged on the third working arm.

[0011] In a further embodiment, the piston rod of the first cylinder is connected to the first working arm, the piston rod of the second cylinder is connected to the second working arm, the piston rod of the third cylinder is connected to the third working arm, and the piston rod of the fourth cylinder is connected to the tool connecting seat.

[0012] In a further embodiment, the electrically controlled multi-way valve includes: a first valve body, a second valve body, a third valve body, a fourth valve body, a pressure sensor, a first solenoid valve, a second solenoid valve, a third solenoid valve, a fourth solenoid valve, a fifth solenoid valve, a sixth solenoid valve, a seventh solenoid valve, an eighth solenoid valve, and a relief valve;

[0013] The first solenoid valve, the second solenoid valve, the third solenoid valve, the fourth solenoid valve, the fifth solenoid valve, the sixth solenoid valve, the seventh solenoid valve, and the eighth solenoid valve are respectively electrically connected to the controller, and are used to realize power on or off of the solenoid valve according to the electrical signal of the controller, thereby controlling the flow direction of the hydraulic oil;

[0014] The relief valve is preset with a pressure threshold value for limiting the upper pressure limit in the hydraulic system;

[0015] The pressure sensor is arranged at the pressure port P of the electronically controlled multi-way valve and is electrically connected to the controller, and is used to feed back the pressure data of the electronically controlled multi-way valve to the controller and compare it with the pressure threshold of the relief valve in real time.

[0016] In a further embodiment, the first valve body, the second valve body, the third valve body, and the fourth valve body are connected to the cylinder assembly through port A and port B respectively;

[0017] The port A1 of the first valve body is connected to the rod chamber of the fourth oil cylinder through the first solenoid valve;

[0018] The port B1 of the first valve body is connected to the rodless chamber of the fourth oil cylinder through the second solenoid valve;

[0019] The port A2 of the second valve body is connected to the rodless chamber of the third oil cylinder through the third solenoid valve;

[0020] The port B2 of the second valve body is connected to the rod chamber of the third oil cylinder through the fourth solenoid valve;

[0021] The port A3 of the third valve body is connected to the rodless chamber of the second oil cylinder through the fifth solenoid valve;

[0022] The port B3 of the third valve body is connected to the rod chamber of the second oil cylinder through the sixth solenoid valve;

[0023] The port A4 of the fourth valve body is connected to the rod chamber of the first oil cylinder through the seventh solenoid valve;

[0024] The port B4 of the fourth valve body is connected to the rodless chamber of the first oil cylinder through the eighth solenoid valve.

[0025] In a second aspect, the present invention provides a working arm reset control method, based on the above-mentioned working arm, comprising:

[0026] Receive a one-button reset control signal and collect pressure data of the electronically controlled multi-way valve in real time; wherein the controller is pre-set with a reset control algorithm for controlling the electronically controlled multi-way valve, and is used to sequentially control or switch the on / off states of multiple solenoid valves between the first valve body, the second valve body, and the third valve body to the fourth valve body of the electronically controlled multi-way valve according to the reset control algorithm;

[0027] Compare the pressure data with the pressure threshold, and select and generate control instructions for switching the on and off states of multiple solenoid valves based on the comparison results and the reset control algorithm;

[0028] According to the control instructions for switching the on and off states of multiple solenoid valves, the connection states of the first valve body, the second valve body, the third valve body, and the fourth valve body with the corresponding oil cylinders are switched in sequence, so that the multiple oil cylinders can scale the power rods according to the reset control sequence, driving the multi-section working arms to reset to their original state.

[0029] In a further embodiment, the reset control algorithm uses conditional sequential control triggered when the pressure data fed back by the pressure sensor is greater than the pressure threshold, and is used by the controller to send or switch the on-off state control instructions to multiple solenoid valves of the first valve body, the second valve body, the third valve body, and the fourth valve body in sequence according to the conditional sequential control.

[0030] In a further embodiment, the pressure data is compared with the pressure threshold, and a method for generating a control instruction for switching the on / off states of multiple solenoid valves is selected based on the comparison result and the reset control sequence:

[0031] When the one-button reset command is activated, the controller sends a control command to the second solenoid valve of the first valve body to energize the second solenoid valve. After the second solenoid valve is energized, oil flows into the rodless chamber of the fourth cylinder, and the piston rod extends to drive the tool inward. When the tool is extended to the limit and the pressure data is greater than the pressure threshold, the controller controls the first solenoid valve to energize and the second solenoid valve to de-energize, and oil flows into the rod chamber of the fourth cylinder. The piston rod retracts and drives the tool outward.

[0032] When the piston rod of the fourth oil cylinder retracts to the limit and the pressure data is greater than the pressure threshold, the controller sends a control instruction to control the first solenoid valve to be de-energized and the third solenoid valve to be energized, oil flows into the rodless chamber of the third oil cylinder, the piston rod extends to drive the third working arm to retract, and when it extends to the limit and the pressure data is greater than the pressure threshold, the third solenoid valve is de-energized and the fourth solenoid valve is energized; oil flows into the rod chamber of the third oil cylinder, the piston rod retracts and drives the third working arm to swing outward;

[0033] When the piston rod of the third oil cylinder retracts to the limit and the pressure data is greater than the pressure threshold, the controller sends a control instruction to control the fourth solenoid valve to be de-energized and the fifth solenoid valve to be energized; oil flows into the rodless chamber of the second oil cylinder, and the piston rod extends to drive the second working arm to unfold. When it extends to the limit and the pressure data is greater than the pressure threshold, the fifth solenoid valve is de-energized and the sixth solenoid valve is energized; oil flows into the rod chamber of the second oil cylinder, and the piston rod retracts to drive the second working arm to fold;

[0034] When the piston rod of the second oil cylinder retracts to the limit and the pressure data is greater than the pressure threshold, the controller sends a control instruction to control the sixth solenoid valve to be de-energized and the eighth solenoid valve to be energized; oil flows into the rodless chamber of the first oil cylinder, the piston rod extends to drive the first working arm to unfold, and when it extends to the limit and the pressure data is greater than the pressure threshold, the eighth solenoid valve is de-energized and the seventh solenoid valve is energized; oil flows into the rod chamber of the first oil cylinder, the piston rod retracts to drive the first working arm to fold;

[0035] When the piston rod of the first oil cylinder retracts to the limit and the pressure data is greater than the pressure threshold, the seventh solenoid valve is de-energized, completing the one-button reset of the multi-section working arm.

[0036] Beneficial effects: Compared with the prior art, the present invention has the following advantages:

[0037] An electrically controlled multi-way valve is used to control the actions of corresponding hydraulic cylinders and other actuators; the hydraulic cylinder is used to control the working arm to perform individual or combined actions, the pressure sensor is used to detect the pressure of the hydraulic system, and the working arm is used to demolish the structure of the equipment carried by the machine; the controller is used to collect and process data and run the control algorithm; based on the structural design of the working arm of the machine of the present invention, the sequence control preset in the controller, combined with the real-time pressure data fed back by the pressure sensor, controls the working arm according to the preset sequence during actual operation according to the prescribed route or corresponding control strategy, and performs a quick one-button reset, which has the emergency response capability for dangerous operations and improves the safety and reliability of construction;

[0038] Secondly, one-button reset can omit unnecessary manual operation, thereby shortening the reset time. It is simple to operate, reduces labor intensity and improves construction efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 Schematic diagram of the structure of the working arm of the present invention;

[0040] Figure 2 This is a hydraulic principle diagram of the working arm of the present invention;

[0041] Figure 3 This is a control topology diagram of the reset control of the present invention;

[0042] Figure 4 This is a control flow chart of the working arm motion route of the present invention;

[0043] Figure 5 This is a diagram illustrating an embodiment of the one-button reset function of the present invention in its original state;

[0044] Figure 6 This is an embodiment diagram of the simulation of the action sequence state of the working arm of the present invention.

[0045] Figure numerals: first cylinder 1, first working arm 2, second cylinder 3, second working arm 4, third cylinder 5, third working arm 6, fourth cylinder 7, machine 8, rotary platform 9, electrically controlled multi-way valve 10, pressure sensor 100, first solenoid valve 101, second solenoid valve 102, third solenoid valve 103, fourth solenoid valve 104, fifth solenoid valve 105, sixth solenoid valve 106, seventh solenoid valve 107, eighth solenoid valve 108, controller 11. DETAILED DESCRIPTION

[0046] In order to more fully understand the technical content of the present invention, the technical solution of the present invention is further introduced and illustrated in conjunction with specific embodiments below, but is not limited thereto.

[0047] Combine Figures 1 to 3 Further description of the working arm of this embodiment includes: a multi-section working arm, a machine tool 8, a rotary platform 9, an electric control multi-way valve 10, a controller 11

[0048] The rotary platform 9 is fixedly mounted on the demolition robot body, the multi-section working arm is arranged on the rotary platform 9, and the cylinder assembly is arranged on the multi-section working arm to control the folding and / or unfolding of the multi-section working arm individually or in combination.

[0049] The tool 8 is connected to one end of the multi-section working arm and is used to be mounted on the demolition robot body and the rotary platform 9 through the multi-section working arm;

[0050] The electronically controlled multi-way valve 10 is connected to the cylinder assembly, and the controller 11 is electrically connected to the electronically controlled multi-way valve 10, wherein the controller 11 is preset with a reset control algorithm, which is used to control the electronically controlled multi-way valve 10 in sequence according to the reset control algorithm to drive the cylinder assembly to switch the power output sequence, and to control the flow state of the hydraulic oil in the cylinder assembly, thereby switching the power output sequence of the cylinder assembly and driving the multi-section working arm to reset in a preset sequence.

[0051] The multi-section working arm includes: a first working arm 2, a second working arm 4, and a third working arm 6;

[0052] The first working arm 2 is hinged on the rotating platform 9, the second working arm 4 is hinged at one end of the first working arm 2, the third working arm 6 is hinged at one end of the second working arm 4, and the tool 8 connecting seat is hinged at one end of the third working arm 6; the tool 8 connecting seat is fixedly connected to the tool 8 by a plurality of bolts.

[0053] The oil cylinder assembly includes: a first oil cylinder 1, a second oil cylinder 3, a third oil cylinder 5, and a fourth oil cylinder 7;

[0054] The first oil cylinder 1 is hinged on the rotary platform 9 , the second oil cylinder 3 is hinged on the end of the first working arm 2 , the third oil cylinder 5 is hinged on the second working arm 4 , and the fourth oil cylinder 7 is hinged on the third working arm 6 .

[0055] Furthermore, the piston rod of the first cylinder 1 is connected to the first working arm 2, the piston rod of the second cylinder 3 is connected to the second working arm 4, the piston rod of the third cylinder 5 is connected to the third working arm 6, and the piston rod of the fourth cylinder 7 is connected to the connecting seat of the tool 8.

[0056] The electronically controlled multi-way valve 10 includes: a first valve body, a second valve body, a third valve body, a fourth valve body, a pressure sensor 100, a first solenoid valve 101, a second solenoid valve 102, a third solenoid valve 103, a fourth solenoid valve 104, a fifth solenoid valve 105, a sixth solenoid valve 106, a seventh solenoid valve 107, an eighth solenoid valve 108, and a relief valve;

[0057] The first solenoid valve 101, the second solenoid valve 102, the third solenoid valve 103, the fourth solenoid valve 104, the fifth solenoid valve 105, the sixth solenoid valve 106, the seventh solenoid valve 107, and the eighth solenoid valve 108 are respectively electrically connected to the controller 11, and are used to energize or de-energize the solenoid valves according to the electrical signals of the controller 11, thereby controlling the flow direction of the hydraulic oil;

[0058] The overflow valve is preset with a pressure threshold to limit the maximum pressure in the hydraulic system;

[0059] The pressure sensor 100 is provided at the pressure port P of the electronically controlled multi-way valve 10 and is electrically connected to the controller 11, and is used to feed back the pressure data of the electronically controlled multi-way valve 10 to the controller 11 and compare it with the pressure threshold P set of the relief valve in real time;

[0060] Furthermore, the extreme position of the working arm is limited by the stroke of the oil cylinder. When the oil cylinder piston rod is fully extended or fully retracted to the limit, the system pressure instantly rises to the pressure threshold set by the relief valve P.

[0061] The first valve body, the second valve body, the third valve body and the fourth valve body are respectively provided with a port A and a port B;

[0062] Ports A and B of the first, second, third and fourth valve bodies are connected to the oil cylinder assembly respectively; specifically:

[0063] The port A1 of the first valve body is connected to the rod chamber of the fourth oil cylinder 7 through the first solenoid valve 101;

[0064] The port B1 of the first valve body is connected to the rodless chamber of the fourth oil cylinder 7 through the second solenoid valve 102;

[0065] The port A2 of the second valve body is connected to the rodless chamber of the third oil cylinder 5 through the third solenoid valve 103;

[0066] The port B2 of the second valve body is connected to the rod chamber of the third oil cylinder 5 through the fourth solenoid valve 104;

[0067] The port A3 of the third valve body is connected to the rodless chamber of the second oil cylinder 3 through the fifth solenoid valve 105;

[0068] The port B3 of the third valve body is connected to the rod chamber of the second oil cylinder 3 through the sixth solenoid valve 106;

[0069] The port A4 of the fourth valve body is connected to the rod chamber of the first oil cylinder 1 through the seventh solenoid valve 107;

[0070] The port B4 of the fourth valve body is connected to the rodless chamber of the first oil cylinder 1 through the eighth solenoid valve 108 . Example

[0071] Combine Figures 4 to 6 Further explaining the working arm reset control method of this embodiment, in this embodiment, a certain movement path is given to the working arm in advance. Figure 5 ; First step, the piston rod of the first oil cylinder 1 retracts; second step, the piston rod of the fourth oil cylinder 7 retracts; third step, the piston rod of the second oil cylinder 3 retracts; fourth step, the piston rod of the third oil cylinder 5 retracts; fifth step, the piston rod of the fourth oil cylinder 7 extends. By resetting with one button, multiple oil cylinders are finally returned to their original state, realizing the rapid and automatic reset of the working arm. The control strategy of the motion route is based on Figure 4 Control flow chart, according to the specified route to carry out the movement of the multi-section working arm Figure 6 shown.

[0072] exist Figure 6 In the final state shown, a one-button reset is started, and the controller 11 turns on and off the power of the first solenoid valve 101 to the eighth solenoid valve 108 in sequence. The controller 11 detects the pressure change of the pressure data P1 of the pressure sensor 100 through the pressure sensor 100, and determines whether the pressure data P1 is greater than the pressure threshold P set, so that the working arm can be restored to the original posture with one button according to the planned control sequence and route.

[0073] Specifically:

[0074] Receive a one-button reset control signal and collect pressure data of the electronically controlled multi-way valve 10 in real time; wherein the controller 11 is pre-set with a reset control algorithm for controlling the electronically controlled multi-way valve 10, and is used to sequentially control or switch the on / off states of multiple solenoid valves between the first valve body, the second valve body, the third valve body, and the fourth valve body of the electronically controlled multi-way valve 10 according to the reset control algorithm;

[0075] Compare the pressure data with the pressure threshold, and select and generate control instructions for switching the on and off states of multiple solenoid valves based on the comparison results and the reset control algorithm;

[0076] According to the control instructions for switching the on and off states of multiple solenoid valves, the connection states of the first valve body, the second valve body, the third valve body, and the fourth valve body with the corresponding oil cylinders are switched in sequence, so that the multiple oil cylinders can scale the power rods according to the reset control sequence, driving the multi-section working arms to reset to their original state.

[0077] The reset control algorithm uses conditional sequential control triggered when the pressure data fed back by the pressure sensor 100 is greater than the pressure threshold, and is used for the controller 11 to send or switch the on-off state control instructions to the multiple solenoid valves of the first valve body, the second valve body, the third valve body, and the fourth valve body in sequence according to the conditional sequential control.

[0078] Preferably, the pressure data is compared with the pressure threshold, and a method for generating a control instruction for switching the on / off states of multiple solenoid valves is selected based on the comparison result and the reset control sequence:

[0079] When the one-button reset command is activated, the controller 11 sends a control command to the second solenoid valve 102 of the first valve body to control the second solenoid valve 102 to be energized. After the second solenoid valve 102 is energized, oil flows into the rodless chamber of the fourth oil cylinder 7, and the piston rod extends to drive the tool 8 to retract. When the rod is extended to the limit and the pressure data is greater than the pressure threshold, the controller 11 controls the first solenoid valve 101 to be energized and the second solenoid valve 101 to be de-energized. Oil flows into the rod chamber of the fourth oil cylinder 7, and the piston rod retracts to drive the tool 8 to swing outward.

[0080] When the piston rod of the fourth oil cylinder 7 retracts to the limit and the pressure data is greater than the pressure threshold, the controller 11 sends a control instruction to control the first solenoid valve 101 to be de-energized and the third solenoid valve 103 to be energized, and oil flows into the rodless chamber of the third oil cylinder 5, and the piston rod extends to drive the third working arm 6 to retract. When it extends to the limit and the pressure data is greater than the pressure threshold, the third solenoid valve 103 is de-energized and the fourth solenoid valve 104 is energized; oil flows into the rod chamber of the third oil cylinder 5, and the piston rod retracts to drive the third working arm 6 to swing outward;

[0081] When the piston rod of the third oil cylinder 5 is retracted to the limit and the pressure data is greater than the pressure threshold, the controller 11 sends a control instruction to control the fourth solenoid valve 104 to be de-energized and the fifth solenoid valve 105 to be energized; oil flows into the rodless chamber of the second oil cylinder 3, and the piston rod extends to drive the second working arm 4 to be deployed. When it is extended to the limit and the pressure data is greater than the pressure threshold, the fifth solenoid valve 105 is de-energized and the sixth solenoid valve 106 is energized; oil flows into the rod chamber of the second oil cylinder 3, and the piston rod retracts to drive the second working arm 4 to be folded;

[0082] When the piston rod of the second oil cylinder 3 is retracted to the limit and the pressure data is greater than the pressure threshold, the controller 11 sends a control instruction to control the sixth solenoid valve 106 to be de-energized and the eighth solenoid valve 108 to be energized; oil flows into the rodless chamber of the first oil cylinder 1, and the piston rod extends to drive the first working arm 2 to unfold. When it is extended to the limit and the pressure data is greater than the pressure threshold, the eighth solenoid valve 108 is de-energized and the seventh solenoid valve 107 is energized; oil flows into the rod chamber of the first oil cylinder 1, and the piston rod retracts to drive the first working arm 2 to fold;

[0083] When the piston rod of the first oil cylinder 1 is retracted to the limit and the pressure data is greater than the pressure threshold, the seventh solenoid valve 107 is powered off, completing the one-button reset of the multi-section working arm. Figure 5 shown.

[0084] To sum up, the electronically controlled multi-way valve 10 is used to control the actions of the corresponding hydraulic cylinders and other actuators; the hydraulic cylinder is used to control the working arm to perform individual or compound actions, the pressure sensor 100 is used to detect the pressure of the hydraulic system, and the working arm is used to demolish the structure of the carrying tool 8; the controller 11 is used to collect and process data and run the control algorithm; based on the structural design of the working arm of the machine of the present invention, the sequential control preset in the controller 11, combined with the real-time pressure data fed back by the pressure sensor 100, controls the working arm in accordance with the preset sequence according to the prescribed route or corresponding control strategy during actual operation, and performs a quick one-button reset according to the prescribed route or corresponding control strategy, which has the emergency response capability for dangerous operations and improves the safety and reliability of construction; secondly, the one-button reset can omit unnecessary human manipulation, thereby shortening the reset time, and is simple to operate, reducing human labor intensity and improving construction efficiency.

[0085] The above are only preferred embodiments of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A working arm reset control method, characterized in that: Based on a working arm, the working arm includes: a rotating platform, a multi-section working arm arranged on the rotating platform, a cylinder assembly arranged on the multi-section working arm, a machine connected to one end of the multi-section working arm, an electric control multi-way valve connected to the cylinder assembly, and a controller electrically connected to the electric control multi-way valve; The electronically controlled multi-way valve comprises: a first valve body, a second valve body, a third valve body, a fourth valve body, a pressure sensor, a first solenoid valve, a second solenoid valve, a third solenoid valve, a fourth solenoid valve, a fifth solenoid valve, a sixth solenoid valve, a seventh solenoid valve, an eighth solenoid valve, and a relief valve; The limit position of the working arm is limited by the stroke of the cylinder. When the cylinder piston rod is fully extended or fully retracted to the limit, the system pressure instantly rises to the pressure threshold preset by the relief valve; The working arm reset control method includes: Receive a one-button reset control signal and collect pressure data of the electronically controlled multi-way valve in real time; wherein the controller is pre-set with a reset control algorithm for controlling the electronically controlled multi-way valve, and is used to sequentially control or switch the on / off states of multiple solenoid valves between the first valve body, the second valve body, and the third valve body to the fourth valve body of the electronically controlled multi-way valve according to the reset control algorithm; Compare the pressure data with the pressure threshold, and select and generate control instructions for switching the on and off states of multiple solenoid valves based on the comparison results and the reset control algorithm; According to the control instruction of switching the on-off state of multiple solenoid valves, the connection state of the first valve body, the second valve body, the third valve body, and the fourth valve body with the corresponding oil cylinders is switched in sequence, so that the multiple oil cylinders can perform the scaling switch of the power rod according to the reset control sequence, and drive the multi-section working arm to reset to the original state; The pressure data is compared with the pressure threshold, and based on the comparison result and the reset control algorithm, a method for generating a control instruction for switching the on / off states of multiple solenoid valves is selected as follows: When the one-button reset command is activated, the controller sends a control command to the second solenoid valve of the first valve body to energize the second solenoid valve. After the second solenoid valve is energized, oil flows into the rodless chamber of the fourth cylinder, and the piston rod extends to drive the tool inward. When the tool is extended to the limit and the pressure data is greater than the pressure threshold, the controller controls the first solenoid valve to energize and the second solenoid valve to de-energize, and oil flows into the rod chamber of the fourth cylinder. The piston rod retracts and drives the tool outward. When the piston rod of the fourth oil cylinder retracts to the limit and the pressure data is greater than the pressure threshold, the controller sends a control instruction to control the first solenoid valve to be de-energized and the third solenoid valve to be energized, oil flows into the rodless chamber of the third oil cylinder, the piston rod extends to drive the third working arm to retract, and when it extends to the limit and the pressure data is greater than the pressure threshold, the third solenoid valve is de-energized and the fourth solenoid valve is energized; oil flows into the rod chamber of the third oil cylinder, the piston rod retracts and drives the third working arm to swing outward; When the piston rod of the third oil cylinder retracts to the limit and the pressure data is greater than the pressure threshold, the controller sends a control instruction to control the fourth solenoid valve to be de-energized and the fifth solenoid valve to be energized; oil flows into the rodless chamber of the second oil cylinder, and the piston rod extends to drive the second working arm to unfold. When it extends to the limit and the pressure data is greater than the pressure threshold, the fifth solenoid valve is de-energized and the sixth solenoid valve is energized; oil flows into the rod chamber of the second oil cylinder, and the piston rod retracts to drive the second working arm to fold; When the piston rod of the second oil cylinder retracts to the limit and the pressure data is greater than the pressure threshold, the controller sends a control instruction to control the sixth solenoid valve to be de-energized and the eighth solenoid valve to be energized; oil flows into the rodless chamber of the first oil cylinder, the piston rod extends to drive the first working arm to unfold, and when it extends to the limit and the pressure data is greater than the pressure threshold, the eighth solenoid valve is de-energized and the seventh solenoid valve is energized; oil flows into the rod chamber of the first oil cylinder, the piston rod retracts to drive the first working arm to fold; When the piston rod of the first oil cylinder retracts to the limit and the pressure data is greater than the pressure threshold, the seventh solenoid valve is de-energized, completing the one-button reset of the multi-section working arm.

2. The working arm reset control method according to claim 1, characterized in that: The reset control algorithm uses conditional sequential control triggered when the pressure data fed back by the pressure sensor is greater than the pressure threshold, and is used by the controller to send or switch the on-off state control instructions to multiple solenoid valves of the first valve body, the second valve body, the third valve body, and the fourth valve body in sequence according to the conditional sequential control.

3. The working arm reset control method according to claim 1, characterized in that: include: The controller is preset with a reset control algorithm, which is used to control the electronically controlled multi-way valve in sequence according to the reset control algorithm to drive the cylinder assembly to switch the power output sequence, and by switching the power output sequence of the cylinder assembly, drive the multi-section working arm to reset in an orderly manner.

4. The working arm reset control method according to claim 1, characterized in that: The multi-section working arm includes: a first working arm hinged on the rotary platform, a second working arm hinged at one end of the first working arm, a third working arm hinged at one end of the second working arm, and a tool connecting seat hinged at one end of the third working arm.

5. The working arm reset control method according to claim 4, characterized in that: The tool connecting seat is fixedly connected to the tool via a plurality of bolts.

6. The working arm reset control method according to claim 1, characterized in that: The oil cylinder assembly comprises: a first oil cylinder hinged on the slewing platform, a second oil cylinder hinged on the end of the first working arm, a third oil cylinder hinged on the second working arm, and a fourth oil cylinder hinged on the third working arm.

7. The working arm reset control method according to claim 6, characterized in that: The piston rod of the first oil cylinder is connected to the first working arm, the piston rod of the second oil cylinder is connected to the second working arm, the piston rod of the third oil cylinder is connected to the third working arm, and the piston rod of the fourth oil cylinder is connected to the machine connecting seat.

8. The working arm reset control method according to claim 1, characterized in that: The first solenoid valve, the second solenoid valve, the third solenoid valve, the fourth solenoid valve, the fifth solenoid valve, the sixth solenoid valve, the seventh solenoid valve, and the eighth solenoid valve are respectively electrically connected to the controller, and are used to realize power on or off of the solenoid valve according to the electrical signal of the controller, thereby controlling the flow direction of the hydraulic oil; The relief valve is preset with a pressure threshold value for limiting the upper pressure limit in the hydraulic system; The pressure sensor is arranged at the pressure port P of the electronically controlled multi-way valve and is electrically connected to the controller, and is used to feed back the pressure data of the electronically controlled multi-way valve to the controller and compare it with the pressure threshold of the relief valve in real time.

9. The working arm reset control method according to claim 8, characterized in that: The first valve body, the second valve body, the third valve body and the fourth valve body are connected to the cylinder assembly through port A and port B respectively; The port A1 of the first valve body is connected to the rod chamber of the fourth oil cylinder through the first solenoid valve; The port B1 of the first valve body is connected to the rodless chamber of the fourth oil cylinder through the second solenoid valve; The port A2 of the second valve body is connected to the rodless chamber of the third oil cylinder through the third solenoid valve; The port B2 of the second valve body is connected to the rod chamber of the third oil cylinder through the fourth solenoid valve; The port A3 of the third valve body is connected to the rodless chamber of the second oil cylinder through the fifth solenoid valve; The port B3 of the third valve body is connected to the rod chamber of the second oil cylinder through the sixth solenoid valve; The port A4 of the fourth valve body is connected to the rod chamber of the first oil cylinder through the seventh solenoid valve; The port B4 of the fourth valve body is connected to the rodless chamber of the first oil cylinder through the eighth solenoid valve.

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