Multi-degree-of-freedom cantilever crane limiting control system and method for operation equipment

Abstract

The invention discloses a multi-degree-of-freedom arm support limiting control system and method for operation equipment, and belongs to the technical field of emergency rescue equipment. The device comprises a power cabin arranged on a crawler chassis, the power cabin is provided with an arm support used for achieving material suction and positioning, a control unit used for controlling action execution and protection of the whole vehicle is arranged in the power cabin, and the arm support is provided with a detection unit used for detecting the position posture of the arm support to achieve limiting protection and reset of the arm support. The arm support is provided with an arm support control valve group which is used for providing execution power for the arm support; a multi-sensor fusion detection method is formed through the detection unit, the control unit and the arm support control valve set, arm support limiting protection and one-key reset control logic are achieved, the arm support is automatically restored to the transportation state, operation complexity is simplified, and arm support control accuracy and safety are improved.

Description

Technical Field

[0001] The invention relates to a multi-degree-of-freedom boom limit control system and method for operating equipment, belonging to the technical field of emergency rescue equipment. Background Art

[0002] With the rapid development of urban construction in my country, due to the large-scale construction of foundation pits, rivers, ditches and other infrastructure, buried accidents have occurred frequently. In the past, rescue could only be carried out by digging the soil by hand or shoveling the soil with a shovel. The rescue efficiency was low and secondary collapse was prone to occur, endangering the rescue personnel. In recent years, suction operation equipment has been developed one after another. The suction arm is controlled by a remote control to suck the buried objects. However, when controlling the suction arm, the operator may easily collide with other components due to misoperation and cause damage. Moreover, when relocating the arm to the transportation state during rescue, the operation is complicated, the control return accuracy is low, the time is long and the degree of automation is low, which cannot meet the needs of rapid relocation. Therefore, there is an urgent need for a rescue equipment with a high degree of automation and an arm protection function and a one-button reset function to meet the timeliness requirements of relocation rescue.

[0003] At present, most domestic suction equipment is mainly based on crawler and wheeled chassis, and is equipped with multi-section booms for sucking materials. When the boom is moved to the suction point by remote control, the wrong operation sequence or misoperation can easily cause the boom to collide with certain supporting components, causing damage to the components. When the suction operation is completed and the transfer is carried out, the operator needs to actively reset the boom to the initial transportation state. Controlling the multi-section boom is not only cumbersome, but also has low return control efficiency, poor accuracy, and long reset time, which affects the transfer efficiency of the suction operation.

[0004] The prior art has the following two deficiencies: First, when controlling a multi-section boom, there is little limit protection, and misoperation can easily cause the boom to collide with other components, causing damage.

[0005] Second, when the boom is reset to its initial state after the suction operation is completed, the operator only controls the boom to perform corresponding actions in sequence according to the operating steps by visual inspection. The operation is complicated, the reset control efficiency and accuracy are low, the safety is poor, and the degree of automation is low. Summary of the invention

[0006] The purpose of the present invention is to overcome the deficiencies of the prior art and provide a multi-degree-of-freedom boom limit control system and method for operating equipment, so as to solve the problem that the boom collides with other components when misoperated, ensure operational safety, and realize one-button rapid, accurate and safe reset of the boom to the initial transport state, thereby improving the efficiency of rescue transfer and the convenience of operation; In order to achieve the above purpose / solve the above technical problems, the present invention is implemented by adopting the following technical solutions: The first aspect: A multi-degree-of-freedom boom limit protection control system for operating equipment, comprising a power compartment arranged on a crawler chassis, the power compartment is provided with a boom for realizing material suction and positioning, the power compartment is provided with a control unit for controlling the execution and protection of the entire vehicle movement, the boom is provided with a detection unit for detecting the position and posture of the boom to realize boom limit protection and resetting, and the boom is provided with a boom control valve group for providing execution power for the boom.

[0007] Optionally, the boom comprises a one-section boom, a two-section boom, a three-section boom and a four-section boom which are hinged in sequence, the end of the one-section boom is mounted on the power cabin via a slewing bearing, a one-section boom cylinder for extending or retracting the one-section boom is provided between the one-section boom and the slewing bearing, a two-section boom cylinder for extending or retracting the two-section boom is provided between the one-section boom and the two-section boom, a three-section boom cylinder for extending or retracting the three-section boom is provided between the two-section boom and the three-section boom, and a four-section boom cylinder for extending or retracting the four-section boom is provided between the three-section boom and the four-section boom.

[0008] Optionally, the slewing bearing is provided with a limit detection plate cooperating with the detection unit to realize arm limit protection.

[0009] Optionally, a rotary motor is provided at the end of the four-section arm, the rotary motor is connected to a gripper cylinder, and the gripper cylinder is connected to a gripper.

[0010] Optionally, the detection unit includes a position sensor A and a position sensor B arranged on both sides of the limit detection plate, an inclination sensor A arranged above a first arm, a displacement sensor A arranged on a first arm cylinder, a displacement sensor B arranged on a second arm cylinder, a position sensor C arranged at the second arm near the end of a first arm, a displacement sensor C arranged at the extended end of the third arm cylinder, a displacement sensor D arranged at the extended end of the fourth arm cylinder, a displacement sensor E arranged on the gripper cylinder, an inclination sensor B arranged on the gripper, and a position sensor D arranged on the gripper support plate.

[0011] Optionally, the boom control valve group includes a one-section boom extension solenoid valve cooperating with the displacement sensor A, a two-section boom extension solenoid valve cooperating with the displacement sensor B, a three-section boom retraction solenoid valve cooperating with the displacement sensor C, a four-section boom retraction solenoid valve cooperating with the displacement sensor D, a gripper closing solenoid valve cooperating with the displacement sensor E, a support forward rotation solenoid valve and a support reverse rotation solenoid valve cooperating with the inclination sensor A, a motor forward rotation solenoid valve and a motor reverse rotation solenoid valve cooperating with the inclination sensor B, and a one-section boom retraction solenoid valve cooperating with the position sensor C and the position sensor D.

[0012] Optionally, the two-section arm is fixed to the power cabin via an arm support.

[0013] A second aspect: A control method for a multi-degree-of-freedom boom position limiting protection control system for an operating equipment based on the first aspect, the method comprising: When the position sensor C detects a signal, the control unit 5 sends a restriction command to the first-section boom retraction solenoid valve, the second-section boom retraction solenoid valve, the support forward rotation solenoid valve and the support reverse rotation solenoid valve to prohibit the execution of the action; When the position sensor D detects a signal, the control unit 5 sends a restriction command to the motor forward solenoid valve and the motor reverse solenoid valve 724 to prohibit the execution of the action; When the arm is rotating, when the limit detection plate is under position sensor A or position sensor B and detects a signal, the control unit sends a limit command to the support forward solenoid valve or the support reverse solenoid valve to prohibit the action from being executed.

[0014] Optionally, the method includes one-key resetting of the boom, as follows: The control unit sends a command to the solenoid valve of one boom section to be energized, and the oil cylinder of one boom section starts to extend and lift the one boom section. At the same time, the displacement sensor A detects the extension length of the oil cylinder and sends a signal to the control unit. When the extension length of the oil cylinder is detected to be ≥ the preset value L1, the solenoid valve of one boom section loses power and the lifting of one boom section stops. The second-section boom extension solenoid valve is energized, and the second-section boom cylinder begins to extend and lift the second-section boom. At the same time, the displacement sensor B detects the extension length of the cylinder and sends a signal to the control unit. When the extension length of the cylinder is detected to be ≥ the preset value L2, the second-section boom extension solenoid valve loses power and the lifting of the second-section boom stops; The three-section arm retraction solenoid valve is energized, and the three-section arm cylinder begins to retract and retract the three-section arm. At the same time, the displacement sensor C detects the retraction length of the three-section arm cylinder and sends a signal to the control unit. When the extension length of the cylinder is detected to be ≤ the preset value L3, the three-section arm retraction solenoid valve loses power and the three-section arm retraction stops; The four-section arm retraction solenoid valve is energized, and the four-section arm cylinder begins to retract and retract the four-section arm. At the same time, the displacement sensor D detects the cylinder retraction length signal and sends it to the control unit. When the detection cylinder extension length value is ≤ the preset value L4, the four-section arm retraction solenoid valve loses power and the four-section arm retraction stops; The gripper opens and closes and rotates simultaneously, the gripper closing solenoid valve is energized, the gripper cylinder begins to extend and closes the gripper, and at the same time, the displacement sensor E detects the extension length of the cylinder and sends a signal to the control unit; When the extension length of the oil cylinder is detected to be ≥ the preset value L5, the gripper closing solenoid valve loses power and the gripper stops closing; at the same time, the gripper rotates, and when the BY axis of the inclination sensor is greater than the positive angle R of the inclination sensor, the forward rotation solenoid valve of the rotary motor is energized, and the gripper rotates forward; when the BY axis of the inclination sensor is less than the negative angle -R of the inclination sensor, the reverse rotation solenoid valve of the rotary motor is energized, and the gripper reverses; when the negative angle -R of the inclination sensor is ≤ the BY axis of the inclination sensor ≤ the positive angle R of the inclination sensor, the rotary motor stops rotating; When the inclination sensor AX axis> the positive angle R of the inclination sensor, the slewing support forward rotation solenoid valve is energized and the arm rotates forward; When the inclination sensor AX axis is less than the negative angle -R of the inclination sensor, the slewing support reversal solenoid valve is energized and the arm is reversed; When the negative angle -R of the inclination sensor ≤ the AX axis of the inclination sensor ≤ the positive angle R of the inclination sensor, the slewing support stops rotating; When a boom retraction solenoid valve is energized, a boom cylinder starts to retract and lowers a boom section. At the same time, detection signals from position sensor C and position sensor D are sent to the control unit. When a signal is detected in one of them, a boom retraction solenoid valve loses power and the lowering of a boom section stops. At this time, the boom is reset to the initial transport state with one button.

[0015] Optionally, the maximum rotation angle of the arm is ±135°.

[0016] Compared with the prior art, the present invention has the following beneficial effects: The present invention forms a multi-sensor fusion detection method through a detection unit, a control unit and a boom control valve group, realizes boom limit protection and one-key reset control logic, enables the boom to automatically return to the transport state, simplifies operation complexity, and improves boom control accuracy and safety; The detection unit of the present invention adopts a multi-group sensor detection method to prevent the arm support from colliding with certain components due to misoperation by the operator and causing damage, thereby improving the operation safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 The figure shows a schematic diagram of the composition of an embodiment of the operating equipment system of the present invention; Figure 2 The figure shows a schematic diagram of the composition of an embodiment of the arm support element of the present invention; Figure 3 The figure shows a schematic diagram of the components of an embodiment of the boom control system of the present invention; Figure 4 The figure shows a schematic diagram of an embodiment of the arm limit protection control logic of the present invention; Figure 5 The figure shows a schematic diagram of the working state of the arm support of the present invention; Figure 6 The figure shows a logic diagram of the automatic control of the boom one-key reset of the present invention; In the figure: 1. crawler chassis; 2. dust removal silo; 3. power compartment; 4. boom; 5. control unit; 6. detection unit; 7. boom control valve group; 8. boom support; 411, slewing bearing; 412, limit detection plate; 413, first arm; 414, first arm cylinder; 415, second arm; 416, second arm cylinder; 417, third arm; 418, third arm cylinder; 419, fourth arm; 420, fourth arm cylinder; 421, slewing motor; 422, gripper; 423, gripper cylinder; 611, position sensor A; 612, position sensor B; 613, inclination sensor A; 614, displacement sensor A; 615, displacement sensor B; 616, position sensor C; 617, displacement sensor C; 618, displacement sensor D; 619, displacement sensor E; 620, inclination sensor B; 621, position sensor D; 711, one-section arm extension solenoid valve; 712, one-section arm retraction solenoid valve; 713, two-section arm extension solenoid valve; 714, two-section arm retraction solenoid valve; 715, three-section arm extension solenoid valve; 716, three-section arm retraction solenoid valve; 717, four-section arm extension solenoid valve; 718, four-section arm retraction solenoid valve; 719, gripper opening solenoid valve; 720, gripper closing solenoid valve; 721, support forward rotation solenoid valve; 722, support reverse rotation solenoid valve; 723, motor forward rotation solenoid valve; 724, motor reverse rotation solenoid valve. DETAILED DESCRIPTION

[0018] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below in conjunction with specific implementation methods.

[0019] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0020] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood by specific circumstances.

[0021] Embodiment 1, as Figure 1-Figure 3 As shown, a multi-degree-of-freedom boom limit protection control system for an operating equipment is disclosed, which is specifically as follows: The crawler chassis 1 is used for walking, the dust removal silo 2 is used for storing materials, the power cabin 3 provides power and control, and the boom 4 is used to realize the rapid material suction operation. The dust removal silo 2 and the power cabin 3 are placed on the upper part of the crawler chassis 1, and the boom 4 is fixed to the dust removal silo 2 through the slewing bearing 411 to realize the material suction positioning; the control unit 5 is installed inside the power cabin 3 to control the execution and protection of the whole vehicle action; the detection unit 6 is fixed to the boom 4 by bolts, and the boom limit protection and one-button reset function are realized by detecting the position and posture of the boom 4; the boom control valve group 7 is fixed to the boom 4 by bolts to provide execution power for the boom 4; the boom support 8 is fixed to the power cabin 3 by bolts to provide fixed support for the boom 4.

[0022] During the specific implementation of this embodiment: the boom includes a first-section boom 413, a second-section boom 415, a third-section boom 417 and a fourth-section boom 419 which are hinged in sequence, the end of the first-section boom 413 is installed on the power compartment 3 through a slewing bearing 411, a first-section boom cylinder 414 for extending or retracting the first-section boom 413 is provided between the first-section boom 413 and the slewing bearing 411, a second-section boom cylinder 416 for extending or retracting the second-section boom is provided between the first-section boom and the second-section boom 415, a third-section boom cylinder 418 for extending or retracting the third-section boom is provided between the second-section boom 415 and the third-section boom 417, and a fourth-section boom cylinder 420 for extending or retracting the fourth-section boom is provided between the third-section boom and the fourth-section boom 419. The slewing bearing is provided with a limit detection plate 412 cooperating with the detection unit to realize the arm limit protection. The limit detection plate 412 is fixed to the slewing bearing 411 by bolts, and the position sensor A611 and the position sensor B612 detect signals to realize the arm limit protection function. The 1st to 4th booms are connected to each other by pins and connecting rod mechanisms to realize the multi-angle amplitude change function of the boom 4. The 1st to 4th boom cylinders are installed on the 1st to 4th booms by pins to perform the 4th boom movements. During the specific implementation of this embodiment, a rotary motor 421 is provided at the end of the four-section arm 419, and the rotary motor is connected to a gripper cylinder, and the gripper cylinder is connected to a gripper. The gripper 422 realizes the opening and closing gripping action of the gripper through the gripper cylinder 423 and is installed on the four-section arm through the rotary motor 421, so as to realize the rotation function of the gripper 422.

[0023] like Figure 1 and Figure 2 As shown, the detection unit includes a position sensor A611 and a position sensor B612 arranged on both sides of the limit detection plate, an inclination sensor A613 arranged above a first arm, a displacement sensor A614 arranged on a first arm cylinder, a displacement sensor B615 arranged on a second arm cylinder, a position sensor C616 arranged on the second arm near the end of the first arm, a displacement sensor C617 arranged at the extended end of the third arm cylinder, a displacement sensor D618 arranged at the extended end of the fourth arm cylinder, a displacement sensor E619 arranged on the gripper cylinder, an inclination sensor B620 arranged on the gripper, and a position sensor D621 arranged on the gripper support plate; like Figure 3 As shown, the boom control valve group includes a one-section boom extension solenoid valve 711 and a one-section boom retraction solenoid valve 712 matched with the displacement sensor A, which are used to control the extension or retraction of the one-section boom; a two-section boom extension solenoid valve 713 and a two-section boom extension solenoid valve 714 matched with the displacement sensor B, which are used to control the extension or retraction of the two-section boom, a three-section boom retraction solenoid valve 715 and a three-section boom extension solenoid valve 716 matched with the displacement sensor C, which are used to control the three-section boom; a four-section boom retraction solenoid valve 718 and a four-section boom extension solenoid valve 717 matched with the displacement sensor D, a gripper closing solenoid valve 720 matched with the displacement sensor E, a support forward rotation solenoid valve 721 and a support reverse rotation solenoid valve 722 matched with the inclination sensor A, a motor forward rotation solenoid valve 723 and a motor reverse rotation solenoid valve 724 matched with the inclination sensor B, and a one-section boom retraction solenoid valve 712 matched with the position sensor C and the position sensor D.

[0024] like Figure 4As shown, it is a logical diagram of the arm limit protection control. During the movement of the arm 4, the arm limit protection measures are implemented through a multi-sensor detection method. When the position sensor C616 signal detection = 1, the control unit 5 sends a restriction command to the first arm retraction solenoid valve 712, the second arm retraction solenoid valve 714, the slewing bearing forward rotation solenoid valve 721 and the slewing bearing reverse rotation solenoid valve 722 to prohibit the execution of the action to prevent the arm 4 from colliding with the arm support 8 inside the arm support and causing damage; when the position sensor D621 signal detection = 1, the control unit 5 sends a restriction command to the motor forward rotation solenoid valve 723 and the slewing motor reverse rotation solenoid valve 724 to prohibit the execution of the action to prevent the gripper 422 from colliding with the front end heat dissipation net of the power compartment 3 during rotation and causing its deformation. When the arm 4 is rotating, the limit detection plate 412 is below the A position sensor 611 or the B position sensor 612 and the signal detection = 1, the control unit 5 sends a restriction command to the slewing bearing forward rotation solenoid valve 721 or the slewing bearing reverse rotation solenoid valve 722 to prohibit the execution of the action and limit the maximum rotation of the arm 4 to ±135° to avoid collision with structural parts and cause damage.

[0025] Example 2: Figure 4-Figure 6 Based on the system of Example 1, the present invention discloses a multi-degree-of-freedom boom limit control method for operating equipment: When the position sensor C signal detection = 1, the control unit 5 sends a restriction command to the first-section boom retraction solenoid valve, the second-section boom retraction solenoid valve, the support forward rotation solenoid valve and the support reverse rotation solenoid valve to prohibit the execution of the action; When the position sensor D signal detection = 1, the control unit 5 sends a restriction command to the motor forward solenoid valve and the motor reverse solenoid valve 724 to prohibit the action from being performed; When the arm is rotating, if the limit detection plate is below position sensor A or position sensor B and the signal detection = 1, the control unit sends a limit command to the support forward solenoid valve or the support reverse solenoid valve to prohibit the action from being executed.

[0026] like Figure 6 As shown, the method includes one-key resetting of the boom, which is as follows: The control unit sends a command to the solenoid valve of one boom section to be energized, and the oil cylinder of one boom section starts to extend and lift the one boom section. At the same time, the displacement sensor A detects the extension length of the oil cylinder and sends a signal to the control unit. When the extension length of the oil cylinder is detected to be ≥ the preset value L1, the solenoid valve of one boom section loses power and the lifting of one boom section stops. The second-section boom extension solenoid valve is energized, and the second-section boom cylinder begins to extend and lift the second-section boom. At the same time, the displacement sensor B detects the extension length of the cylinder and sends a signal to the control unit. When the extension length of the cylinder is detected to be ≥ the preset value L2, the second-section boom extension solenoid valve loses power and the lifting of the second-section boom stops; The three-section arm retraction solenoid valve is energized, and the three-section arm cylinder begins to retract and retract the three-section arm. At the same time, the displacement sensor C detects the retraction length of the three-section arm cylinder and sends a signal to the control unit. When the extension length of the cylinder is detected to be ≤ the preset value L3, the three-section arm retraction solenoid valve loses power and the three-section arm retraction stops; The four-section arm retraction solenoid valve is energized, and the four-section arm cylinder begins to retract and retract the four-section arm. At the same time, the displacement sensor D detects the cylinder retraction length signal and sends it to the control unit. When the detection cylinder extension length value is ≤ the preset value L4, the four-section arm retraction solenoid valve loses power and the four-section arm retraction stops; The gripper opens and closes and rotates simultaneously, the gripper closing solenoid valve is energized, the gripper cylinder begins to extend and closes the gripper, and at the same time, the displacement sensor E detects the extension length of the cylinder and sends a signal to the control unit; When the extension length of the oil cylinder is detected to be ≥ the preset value L5, the gripper closing solenoid valve loses power and the gripper stops closing; at the same time, the gripper rotates. When the inclination sensor BY axis>R, the rotary motor forward solenoid valve is energized and the gripper rotates forward; when the inclination sensor BY axis<-R, the rotary motor reverse solenoid valve is energized and the gripper reverses; when -R≤inclination sensor BY axis≤R, the rotary motor stops rotating; When the inclination sensor AX axis>R, the slewing support forward rotation solenoid valve is energized and the arm rotates forward; When the inclination sensor AX axis is less than -R, the slewing support reversal solenoid valve is energized and the arm is reversed; When -R≤inclination sensor AX axis≤R, the slewing support stops rotating; When a boom retraction solenoid valve is energized, a boom cylinder starts to retract and lowers a boom section. At the same time, detection signals of position sensor C and position sensor D are sent to the control unit. When one of the signals is detected = 1, a boom retraction solenoid valve loses power and the lowering of a boom section stops. At this time, the boom is reset to the initial transport state with one button.

[0027] In the above embodiment, when signal detection=1, it indicates that the sensor detects a signal, R indicates a positive angle of the inclination sensor, and -R indicates a negative angle of the inclination sensor.

[0028] In summary: the present invention adopts a multi-sensor fusion detection method to realize the boom one-key reset control logic, so that the boom automatically returns to the transportation state, simplifies the operation complexity, and improves the accuracy and safety of boom control; The present invention adopts a sensor detection method to prevent the arm support from colliding with certain components due to misoperation by the operator and causing damage, thereby improving the operation safety.

[0029] The above is only a preferred embodiment 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 multi-degree-of-freedom boom limit protection control system for operating equipment, characterized in that: It includes a power cabin arranged on a crawler chassis, the power cabin is provided with an arm for realizing material suction and positioning, the power cabin is provided with a control unit for controlling the execution and protection of the whole vehicle action, the arm is provided with a detection unit for detecting the position and posture of the arm to realize arm limit protection and resetting, and the arm is provided with an arm control valve group for providing execution power for the arm.

2. The multi-degree-of-freedom boom limit protection control system for operating equipment according to claim 1, characterized in that: The boom comprises a first-section boom, a second-section boom, a third-section boom and a fourth-section boom which are hinged in sequence. The end of the first-section boom is mounted on the power cabin via a slewing bearing. A first-section boom oil cylinder for extending or retracting the first-section boom is provided between the first-section boom and the slewing bearing. A second-section boom oil cylinder for extending or retracting the second-section boom is provided between the first-section boom and the second-section boom. A third-section boom oil cylinder for extending or retracting the third-section boom is provided between the second-section boom and the third-section boom. A fourth-section boom oil cylinder for extending or retracting the fourth-section boom is provided between the third-section boom and the fourth-section boom.

3. The multi-degree-of-freedom boom position limiting protection control system for operating equipment according to claim 2, characterized in that: The slewing bearing is provided with a limit detection plate cooperating with the detection unit to realize the arm limit protection.

4. The multi-degree-of-freedom boom position limiting protection control system for operating equipment according to claim 2, characterized in that: A rotary motor is provided at the end of the four-section arm, the rotary motor is connected to a gripper cylinder, and the gripper cylinder is connected to a gripper.

5. The multi-degree-of-freedom boom position limiting protection control system for operating equipment according to claim 3, characterized in that: The detection unit includes a position sensor A and a position sensor B arranged on both sides of the limit detection plate, an inclination sensor A arranged above a first arm, a displacement sensor A arranged on a first arm cylinder, a displacement sensor B arranged on a second arm cylinder, a position sensor C arranged at the second arm near the end of the first arm, a displacement sensor C arranged at the extended end of the third arm cylinder, a displacement sensor D arranged at the extended end of the fourth arm cylinder, a displacement sensor E arranged on the gripper cylinder, an inclination sensor B arranged on the gripper, and a position sensor D arranged on the gripper support plate.

6. The multi-degree-of-freedom boom position limiting protection control system for operating equipment according to claim 5, characterized in that: The boom control valve group includes a one-section boom extension solenoid valve coordinated with displacement sensor A, a two-section boom extension solenoid valve coordinated with displacement sensor B, a three-section boom retraction solenoid valve coordinated with displacement sensor C, a four-section boom retraction solenoid valve coordinated with displacement sensor D, a gripper closing solenoid valve coordinated with displacement sensor E, a support forward rotation solenoid valve and a support reverse rotation solenoid valve coordinated with inclination sensor A, a motor forward rotation solenoid valve and a motor reverse rotation solenoid valve coordinated with inclination sensor B, and a one-section boom retraction solenoid valve coordinated with position sensor C and position sensor D.

7. The multi-degree-of-freedom boom position limiting protection control system for operating equipment according to claim 2, characterized in that: The two-section arm is supported and fixed on the power cabin through an arm frame.

8. A control method for a multi-degree-of-freedom boom position limiting protection control system for an operating equipment according to any one of claims 1 to 7, characterized in that: The method comprises: When the position sensor C detects a signal, the control unit 5 sends a restriction command to the first-section boom retraction solenoid valve, the second-section boom retraction solenoid valve, the support forward rotation solenoid valve and the support reverse rotation solenoid valve to prohibit the execution of the action; When the position sensor D detects a signal, the control unit 5 sends a restriction command to the motor forward solenoid valve and the motor reverse solenoid valve 724 to prohibit the execution of the action; When the arm is rotating, when the limit detection plate is under position sensor A or position sensor B and detects a signal, the control unit sends a limit command to the support forward solenoid valve or the support reverse solenoid valve to prohibit the action from being executed.

9. The multi-degree-of-freedom boom position limiting protection control method for operating equipment according to claim 8, characterized in that: The method includes one-key resetting of the boom, which is as follows: The control unit sends a command to the solenoid valve of one boom section to be energized, and the oil cylinder of one boom section starts to extend and lift the one boom section. At the same time, the displacement sensor A detects the extension length of the oil cylinder and sends a signal to the control unit. When the extension length of the oil cylinder is detected to be ≥ the preset value L1, the solenoid valve of one boom section loses power and the lifting of one boom section stops. The second-section boom extension solenoid valve is energized, and the second-section boom cylinder begins to extend and lift the second-section boom. At the same time, the displacement sensor B detects the extension length of the cylinder and sends a signal to the control unit. When the extension length of the cylinder is detected to be ≥ the preset value L2, the second-section boom extension solenoid valve loses power and the lifting of the second-section boom stops; The three-section arm retraction solenoid valve is energized, and the three-section arm cylinder begins to retract and retract the three-section arm. At the same time, the displacement sensor C detects the retraction length of the three-section arm cylinder and sends a signal to the control unit. When the extension length of the cylinder is detected to be ≤ the preset value L3, the three-section arm retraction solenoid valve loses power and the three-section arm retraction stops; The four-section arm retraction solenoid valve is energized, and the four-section arm cylinder begins to retract and retract the four-section arm. At the same time, the displacement sensor D detects the cylinder retraction length signal and sends it to the control unit. When the detection cylinder extension length value is ≤ the preset value L4, the four-section arm retraction solenoid valve loses power and the four-section arm retraction stops; The gripper opens and closes and rotates simultaneously, the gripper closing solenoid valve is energized, the gripper cylinder begins to extend and closes the gripper, and at the same time, the displacement sensor E detects the extension length of the cylinder and sends a signal to the control unit; When the extension length of the oil cylinder is detected to be ≥ the preset value L5, the gripper closing solenoid valve loses power and the gripper stops closing; at the same time, the gripper rotates, and when the BY axis of the inclination sensor is greater than the positive angle R of the inclination sensor, the forward rotation solenoid valve of the rotary motor is energized, and the gripper rotates forward; when the BY axis of the inclination sensor is less than the negative angle -R of the inclination sensor, the reverse rotation solenoid valve of the rotary motor is energized, and the gripper reverses; when the negative angle -R of the inclination sensor is ≤ the BY axis of the inclination sensor ≤ the positive angle R of the inclination sensor, the rotary motor stops rotating; When the inclination sensor AX axis> the positive angle R of the inclination sensor, the slewing support forward rotation solenoid valve is energized and the arm rotates forward; When the inclination sensor AX axis is less than the negative angle -R of the inclination sensor, the slewing support reversal solenoid valve is energized and the arm is reversed; When the negative angle -R of the inclination sensor ≤ the AX axis of the inclination sensor ≤ the positive angle R of the inclination sensor, the slewing support stops rotating; When a boom retraction solenoid valve is energized, a boom cylinder starts to retract and lowers a boom section. At the same time, detection signals from position sensor C and position sensor D are sent to the control unit. When a signal is detected in one of them, a boom retraction solenoid valve loses power and the lowering of a boom section stops. At this time, the boom is reset to the initial transport state with one button.

10. The multi-degree-of-freedom boom position limiting protection control method for operating equipment according to claim 8, characterized in that: The maximum rotation angle of the arm is ±135°.

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