A rescue equipment attachment operation control system

Abstract

The present invention discloses a control system for the operation of accessories of rescue equipment, including a boom, a standard fixed interface, an accessory tray, a reel hoisting device, a gripper device and a working bucket device, wherein the reel hoisting device, the gripper device and the working bucket device are placed on the accessory tray, and the standard fixed interface is provided at the head of the boom, and is used to install one of three different accessories, namely, a reel hoisting device, a gripper device or a working bucket device, according to different requirements, so as to respectively perform any one of three different operating conditions, namely, hoisting, grabbing or high-altitude operation; an IO module assembly is provided at the head of the boom, and the IO module assembly is close to being used to respectively control the reel hoisting device, the gripper device or the working bucket device to perform hoisting, grabbing or high-altitude operation. The present invention automatically identifies the type of accessories and performs corresponding functional operations, and has a high degree of automation and safety factor; one IO module can control three different accessories, and the safety and stability of the module are also guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of accessory control, and in particular discloses an accessory operation control system for rescue equipment. Background Art

[0002] In rescue equipment, a multifunctional power head is often used. The multifunctional power head includes a hoisting device, a gripping device, and a working bucket device. Due to the requirement for safe operation of the rescue equipment, only one of these three devices can be used during operation. The existing general solution is to install an IO control module or controller on each different device for independent data acquisition and motion control. However, the existing rescue equipment adopts the method of installing an IO control module or controller on each different device for independent data acquisition and motion control, which increases the cost, limits the installation space of the IO module or controller, and makes the IO module or controller easily damaged.

[0003] Therefore, the existing rescue equipment has increased costs, limited installation space for IO modules or controllers, and the IO modules or controllers are easily damaged, which are technical problems that need to be solved urgently. Summary of the invention

[0004] The present invention provides a rescue equipment attachment operation control system, aiming to solve the technical problems of the existing rescue equipment, namely, increased cost, limited installation space of IO modules or controllers, and easy damage of IO modules or controllers.

[0005] The present invention relates to a rescue equipment accessory operation control system, comprising a boom, a standard fixed interface, an accessory tray, a winding field lifting device, a gripping device and a working bucket device, wherein the winding field lifting device, the gripping device and the working bucket device are placed on the accessory tray, and the standard fixed interface is arranged at the head of the boom, and is used to install one of three different accessories, namely, the winding field lifting device, the gripping device or the working bucket device, according to different requirements, so as to respectively perform any one of three different operating conditions, namely, lifting, grabbing or high-altitude operation; an IO module assembly is arranged at the head of the boom, and the IO module assembly is arranged near the standard fixed interface, and is used to respectively control the winding field lifting device, the gripping device or the working bucket device to perform lifting, grabbing or high-altitude operation.

[0006] Furthermore, the IO module assembly includes a control box, and an IO module, a terminal block and a cable connector arranged on the control box. The IO module is electrically connected to the terminal block and the cable connector respectively. The cable connector is used to directly plug into the cable connector 74 of three different accessories, namely the winding field lifting device, the gripping device and the working bucket device; the IO module is used to automatically determine the type of the accessory and perform corresponding logical operation control.

[0007] Further, the IO module includes a first switch input port, a second switch input port and a third switch input port, the cable connector is electrically connected to the first switch input port through a first wire, the cable connector is electrically connected to the second switch input port through a second wire, and the cable connector is electrically connected to the third switch input port through a third wire.

[0008] Furthermore, the IO module is used to input a high level to the first switch input port after identifying that the plugged-in accessory is a gripping device; if it is identified that the plugged-in accessory is a working bucket device, a high level is input to the second switch input port; if it is identified that the plugged-in accessory is a winding field lifting device, a high level is input to the third switch input port.

[0009] Furthermore, the IO module includes a first PWM output port, a second PWM output port, a third PWM output port and a fourth PWM output port. If the IO module receives a gripper instruction transmitted from the chassis control bus, it outputs a corresponding current control signal to the first PWM output port, the second PWM output port, the third PWM output port or the fourth PWM output port to control the action of the corresponding solenoid valve.

[0010] Furthermore, the gripper instructions include gripper extension instructions, gripper retraction instructions, gripper left turn instructions and gripper right turn instructions. The IO module is used to output a first current control signal to the first PWM output port to control the action of the gripper extension solenoid valve if the gripper instruction received is a gripper extension instruction; if the gripper instruction received is a gripper retraction instruction, then the second current control signal is output to the second PWM output port to control the action of the gripper retraction solenoid valve; if the gripper instruction received is a gripper left turn instruction, then the third current control signal is output to the third PWM output port to control the action of the gripper left turn solenoid valve; if the gripper instruction received is a gripper right turn instruction, then the fourth current control signal is output to the fourth PWM output port to control the action of the gripper right turn solenoid valve.

[0011] Furthermore, the IO module includes a fifth PWM output port, a sixth PWM output port and a seventh PWM output port. If the IO module receives a working bucket instruction transmitted from the chassis control bus, it outputs a corresponding current control signal to the fifth PWM output port, the sixth PWM output port or the seventh PWM output port to control the action of the corresponding solenoid valve.

[0012] Furthermore, the working bucket instruction includes a working bucket accessory instruction, a working bucket lowering instruction and a working bucket raising instruction. The IO module is used to output a fifth current control signal to the fifth PWM output port to control the action of the working bucket accessory solenoid valve if the received working bucket instruction is a working bucket accessory instruction; if the received working bucket instruction is a working bucket lowering instruction, then the sixth current control signal is output to the sixth PWM output port to control the action of the working bucket lowering solenoid valve; if the received working bucket instruction is a working bucket raising instruction, then the seventh current control signal is output to the seventh PWM output port to control the action of the working bucket raising solenoid valve.

[0013] Furthermore, the IO module includes an eighth PWM output port and a ninth PWM output port. If the IO module receives a hoisting instruction transmitted from the chassis control bus, it outputs a corresponding current control signal to the eighth PWM output port or the ninth PWM output port to control the action of the corresponding solenoid valve.

[0014] Furthermore, the winch instruction includes a winch lowering instruction and a winch raising instruction. The IO module is used to output an eighth current control signal to the eighth PWM output port to control the action of the winch lowering solenoid valve if the received winch instruction is a winch raising instruction; and to output a ninth current control signal to the ninth PWM output port to control the action of the winch raising solenoid valve if the received winch instruction is a winch lowering instruction.

[0015] The beneficial effects achieved by the present invention are:

[0016] The present invention provides a rescue equipment accessory operation control system, which adopts a boom, a standard fixed interface, an accessory tray, a winding field lifting device, a gripping device and a working bucket device, wherein the winding field lifting device, the gripping device and the working bucket device are placed on the accessory tray, and the standard fixed interface is arranged at the head of the boom, and is used to install one of three different accessories, namely, the winding field lifting device, the gripping device or the working bucket device, according to different needs, so as to respectively perform any one of three different operating conditions, namely, hoisting, grabbing or high-altitude operation; the head of the boom is provided with an IO module assembly, and the IO module assembly is arranged near the standard fixed interface, and is used to respectively control the winding field lifting device, the gripping device or the working bucket device to perform hoisting, grabbing or high-altitude operation. The rescue equipment accessory operation control system provided by the present invention automatically identifies the accessory type and performs corresponding functional operations, and different accessories control different port currents correspondingly, and different accessory systems are configured with different control parameters, and the degree of automation and safety factor are high; the cost is reduced, and one IO module can control three different accessories, and the safety and stability of the module are also guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1A schematic diagram of the structure of an embodiment of a rescue equipment attachment operation control system provided by the present invention;

[0018] Figure 2 for Figure 1 A structural schematic diagram of an IO module assembly embodiment shown in FIG.

[0019] Figure 3 A schematic diagram of the electrical control principle of an embodiment of a rescue equipment attachment operation control system provided by the present invention;

[0020] Figure 4 This is a schematic diagram of the application of an embodiment of the rescue equipment attachment operation control system provided by the present invention.

[0021] Description of Figure Numbers:

[0022] 10. Boom; 20. Standard fixing interface; 30. Accessory tray; 40. Rolling yard lifting device; 50. Gripping device; 60. Working bucket device; 70. IO module assembly; 71. Control box; 72. IO module; 73. Terminal block; 74. Cable connector. DETAILED DESCRIPTION

[0023] In order to better understand the above technical solution, the above technical solution will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0024] like Figures 1 to 4 As shown, the first embodiment of the present invention proposes a control system for the operation of accessories of the rescue equipment, including a boom 10, a standard fixed interface 20, an accessory tray 30, a winding field lifting device 40, a gripping device 50 and a working bucket device 60, wherein the winding field lifting device 40, the gripping device 50 and the working bucket device 60 are placed on the accessory tray 30, and the standard fixed interface 20 is arranged at the head of the boom 10, and is used to install one of three different accessories of the winding field lifting device 40, the gripping device 50 or the working bucket device 60 according to different needs, so as to perform any one of three different operating conditions of lifting, grabbing or high-altitude operation respectively; an IO module assembly 70 is provided at the head of the boom 10, and the IO module assembly 70 is arranged near the standard fixed interface 20, and is used to control the winding field lifting device 40, the gripping device 50 or the working bucket device 60 to perform lifting, grabbing or high-altitude operation respectively. In this embodiment, the standard fixed interface 20 , the attachment tray 30 , the winding field hoisting device 40 , the gripping device 50 and the working bucket device 60 adopt existing devices, and the standard fixed interface 20 can be adapted to the winding field hoisting device 40 , the gripping device 50 and the working bucket device 60 .

[0025] Further, see Figure 2 and Figure 3The rescue equipment attachment operation control system proposed in this embodiment, the IO module assembly 70 includes a control box 71, and an IO module 72, a terminal block 73 and a cable connector 74 arranged on the control box 71, the IO module 72 is electrically connected to the terminal block 73 and the cable connector 74 respectively, and the cable connector 74 is used to directly plug with the cable connectors 74 of three different attachments, namely, the winding field hoisting device 40, the gripping device 50 and the working bucket device 60; the IO module 72 is used to automatically determine the type of attachment and perform corresponding logical operation control. Specifically, the IO module 72 includes a first switch input port XM1.15, a second switch input port XM1.25 and a third switch input port XM1.26, the cable connector 74 is electrically connected to the first switch input port XM1.15 through a first wire, the cable connector 74 is electrically connected to the second switch input port XM1.25 through a second wire, and the cable connector 74 is electrically connected to the third switch input port XM1.26 through a third wire. In this embodiment, the model of the IO module 72 is EPEC3606. The rescue equipment attachment operation control system proposed in this embodiment enables one IO module to control three different attachments, and the safety and stability of the module are also guaranteed.

[0026] Preferably, see Figure 2 and Figure 3In the rescue equipment accessory operation control system proposed in this embodiment, the IO module 72 is used to input a high level to the first switch input port XM1.15 after identifying that the plugged accessory is a gripper device 50; if it is identified that the plugged accessory is a working bucket device 60, a high level is input to the second switch input port; if it is identified that the plugged accessory is a winding field hoisting device 40, a high level is input to the third switch input port. Among them, the identification of the accessories can be carried out using the existing video AI intelligent identification control system. The IO module 72 includes a first PWM output port XM1.7, a second PWM output port XM1.8, a third PWM output port XM1.9 and a fourth PWM output port XM1.10. If the IO module 72 receives a gripper instruction transmitted from the chassis control bus, it outputs a corresponding current control signal to the first PWM output port XM1.7, the second PWM output port XM1.8, the third PWM output port XM1.9 or the fourth PWM output port XM1.10 to control the action of the corresponding solenoid valve. Specifically, the gripper instruction includes a gripper extension instruction, a gripper retraction instruction, a gripper left turn instruction, and a gripper right turn instruction. The IO module 72 is used to output a first current control signal to the first PWM output port XM1.7 if the gripper instruction received is a gripper extension instruction, control the gripper extension solenoid valve -4Y24 to operate, and cause the gripper to extend. If the gripper instruction received is a gripper retraction instruction, the second current control signal is output to the second PWM output port XM1.8 to control the gripper retraction solenoid valve -4Y25 to operate, and cause the gripper to retract. If the gripper instruction received is a gripper left turn instruction, the third current control signal is output to the third PWM output port XM1.9 to control the gripper left turn solenoid valve -4Y26 to operate, and cause the gripper to turn left. If the gripper instruction received is a gripper right turn instruction, the fourth current control signal is output to the fourth PWM output port XM1.10 to control the gripper right turn solenoid valve -4Y27 to operate, and cause the gripper to turn right. The IO module 72 includes a fifth PWM output port, a sixth PWM output port, and a seventh PWM output port. If the IO module 72 receives a working bucket instruction transmitted from the chassis control bus, it outputs a corresponding current control signal to the fifth PWM output port, the sixth PWM output port, or the seventh PWM output port to control the corresponding solenoid valve to operate. Specifically, the working bucket instruction includes a working bucket attachment instruction, a working bucket lowering instruction, and a working bucket raising instruction. If the received working bucket instruction is a working bucket attachment instruction, the IO module 72 is used to output a fifth current control signal to the fifth PWM output port to control the working bucket attachment solenoid valve-4Y28 to operate, so as to cause the working bucket attachment to be installed on the standard fixed interface 20. If the received working bucket instruction is a working bucket lowering instruction, the sixth current control signal is output to the sixth PWM output port to control the working bucket lowering solenoid valve-4Y29 to operate, so as to cause the working bucket to lower.If the received working bucket instruction is a working bucket raising instruction, the seventh current control signal is output to the seventh PWM output port to control the working bucket raising solenoid valve -4Y30 to operate, so as to promote the working bucket to rise. The IO module 72 includes an eighth PWM output port and a ninth PWM output port. If the IO module 72 receives a hoisting instruction transmitted from the chassis control bus, the corresponding current control signal is output to the eighth PWM output port or the ninth PWM output port to control the corresponding solenoid valve to operate. Specifically, the hoisting instruction includes a hoisting lowering instruction and a hoisting raising instruction. The IO module 72 is used to output the eighth current control signal to the eighth PWM output port if the received hoisting instruction is a hoisting lowering instruction, control the hoisting lowering solenoid valve -4Y22 to operate, and promote the hoisting to fall. If the received hoisting instruction is a hoisting raising instruction, the ninth current control signal is output to the ninth PWM output port to control the hoisting raising solenoid valve -4Y23 to operate, so as to promote the hoisting to rise. The rescue equipment accessory operation control system provided in this embodiment automatically identifies the accessory type and performs corresponding functional operations. Different accessories control different port currents, and different accessory systems are configured with different control parameters. The degree of automation and safety factor are high. The cost is reduced, and one IO module can control three different accessories. The safety and stability of the module are also guaranteed.

[0027] like Figures 1 to 4 As shown, the rescue equipment attachment operation control system provided in this embodiment has the following working principles:

[0028] The rescue equipment attachment operation control system involved in this embodiment can automatically identify external attachments and perform corresponding control operations. The attachment operation system mainly includes a boom 10, a standard fixing interface 20, an attachment tray 30, a hoisting device 40, a gripping device 50, and a working bucket device 60. According to different needs, the standard fixing interface 20 at the head of the boom 10 can be installed with a hoisting device 40 or a gripping device 50 or a working bucket device 60 to perform three different operating conditions such as lifting / grabbing / high-altitude operations. The attachment operation system is shown in FIG. Figure 1 shown.

[0029] An EPEC-3606 IO module 72 is used to control three different attachments: a hoisting device 40, a gripping device 50, and a working bucket device 60. The IO module assembly 70 is installed at the head of the boom 10, near the standard fixing interface 20; the IO module assembly 70 is composed of a control box 71, an EPEC-3606 IO module 72, a terminal block 73, and a cable connector 74. The IO module assembly 70 is shown in FIG. Figure 2 The cable connectors 74 of the three different accessories can be directly plugged into the cable connector 74 on the IO module assembly 70 .

[0030] Control principle: If the attachment is a gripper device 50, a wire in its cable connector 74 introduces a +24V high level into the first switch input port XM1.15; if the attachment is a working bucket device 60, a wire in its cable connector 74 introduces a +24V high level into the second switch input port XM1.25; if the attachment is a hoisting device 40, a high level is introduced into the third switch input port XM1.26; the electrical control principle diagram is as follows Figure 3 As shown. After different attachments are connected to the cable connector 74 in the IO module assembly 70, the IO module 72 can automatically determine the type of attachment and perform corresponding logic operation control, that is, when the first switch input port XM1.15 is at a high level, when the chassis control bus sends the gripper extension / retraction and gripper left / right turn instructions to the EPEC-3606IO module, the IO module 72 will output the corresponding current signal through the four PWM output ports XM1.7 / XM1.8 / XM1.9 / XM1.10 to control the action of the corresponding solenoid valve. When the second switch input port XM1.25 is at a high level, once the chassis control bus sends the working bucket instruction to the EPEC-3606IO module 72, the IO module 72 will output the corresponding current signal through the three PWM output ports XM1.8 / XM1.9 / XM1.10 to control the corresponding action of the working bucket solenoid valve. Similarly, when the third switch input port XM1.26 is at a high level, the two PWM output ports XM1.9 / XM1.10 will control the corresponding actions of the winch lowering / raising.

[0031] In this way, the IO module 72 automatically identifies the type of accessories through different wiring methods of the cable connector 74 to achieve corresponding control, and at the same time shields erroneous actions through the IO module 72 software, that is, different accessories have different corresponding PWM output port parameter configurations.

[0032] Although preferred embodiments of the present invention have been described, additional changes and modifications may be made to these embodiments by those skilled in the art once the basic inventive concepts are known. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention. Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A rescue equipment and accessories operation control system, characterized in that: The invention comprises a boom (10), a standard fixing interface (20), an accessory tray (30), a rolling field lifting device (40), a gripping device (50) and a working bucket device (60), wherein the rolling field lifting device (40), the gripping device (50) and the working bucket device (60) are placed on the accessory tray (30), and the standard fixing interface (20) is arranged at the head of the boom (10) for installing the rolling field lifting device (40), the gripping device (50) and the working bucket device (60) according to different requirements. ) or one of the three different accessories of the working bucket device (60) to respectively perform any one of the three different working conditions of hoisting, grabbing or high-altitude operation; the head of the boom (10) is provided with an IO module assembly (70), and the IO module assembly (70) is arranged near the standard fixed interface (20) to respectively control the winding field hoisting device (40), the gripper device (50) or the working bucket device (60) to perform hoisting, grabbing or high-altitude operation; The IO module assembly (70) comprises a control box (71), an IO module (72) arranged on the control box (71), a terminal block (73) and a cable connector (74); the IO module (72) is electrically connected to the terminal block (73) and the cable connector (74) respectively; the cable connector (74) is used to directly plug into the cable connectors (74) of three different accessories, namely, the winding field hoisting device (40), the gripping device (50) and the working bucket device (60); the IO module (72) is used to automatically determine the type of the accessories and perform corresponding logic operation control; The IO module (72) comprises a first switch input port, a second switch input port and a third switch input port, the cable connector (74) is electrically connected to the first switch input port via a first wire, the cable connector (74) is electrically connected to the second switch input port via a second wire, and the cable connector (74) is electrically connected to the third switch input port via a third wire; The IO module (72) is used to input a high level to the first switch input port after recognizing that the plugged-in accessory is the gripper device (50); input a high level to the second switch input port after recognizing that the plugged-in accessory is the working bucket device (60); and input a high level to the third switch input port after recognizing that the plugged-in accessory is the winding field hoisting device (40); The IO module (72) comprises a first PWM output port, a second PWM output port, a third PWM output port and a fourth PWM output port. When the IO module (72) receives a gripper instruction transmitted from a chassis control bus, it outputs a corresponding current control signal to the first PWM output port, the second PWM output port, the third PWM output port or the fourth PWM output port to control the action of the corresponding solenoid valve; The gripper instructions include gripper extension instructions, gripper retraction instructions, gripper left turn instructions and gripper right turn instructions. The IO module (72) is used to output a first current control signal to the first PWM output port to control the gripper extension solenoid valve if the gripper instruction received is a gripper extension instruction; output a second current control signal to the second PWM output port to control the gripper retraction solenoid valve if the gripper instruction received is a gripper left turn instruction; output a third current control signal to the third PWM output port to control the gripper left turn solenoid valve if the gripper instruction received is a gripper right turn instruction; output a fourth current control signal to the fourth PWM output port to control the gripper right turn solenoid valve if the gripper instruction received is a gripper right turn instruction.

2. The rescue equipment attachment operation control system according to claim 1, characterized in that: The IO module (72) comprises a fifth PWM output port, a sixth PWM output port and a seventh PWM output port. When the IO module (72) receives a working bucket instruction transmitted from a chassis control bus, it outputs a corresponding current control signal to the fifth PWM output port, the sixth PWM output port or the seventh PWM output port to control the action of the corresponding solenoid valve.

3. The rescue equipment attachment operation control system according to claim 2, characterized in that: The working bucket instruction includes a working bucket attachment instruction, a working bucket lowering instruction and a working bucket raising instruction. The IO module (72) is used to output a fifth current control signal to the fifth PWM output port to control the operation of the working bucket attachment solenoid valve if the received working bucket instruction is a working bucket attachment instruction; output a sixth current control signal to the sixth PWM output port to control the operation of the working bucket lowering solenoid valve if the received working bucket instruction is a working bucket lowering instruction; and output a seventh current control signal to the seventh PWM output port to control the operation of the working bucket raising solenoid valve if the received working bucket instruction is a working bucket raising instruction.

4. The rescue equipment attachment operation control system according to claim 1, characterized in that: The IO module (72) comprises an eighth PWM output port and a ninth PWM output port. When the IO module (72) receives a hoisting instruction transmitted from a chassis control bus, it outputs a corresponding current control signal to the eighth PWM output port or the ninth PWM output port to control the action of a corresponding solenoid valve.

5. The rescue equipment attachment operation control system according to claim 4, characterized in that: The hoisting instruction includes a hoisting lowering instruction and a hoisting raising instruction. The IO module (72) is used to output an eighth current control signal to the eighth PWM output port to control the action of the hoisting lowering solenoid valve if the hoisting instruction received is a hoisting lowering instruction; and output a ninth current control signal to the ninth PWM output port to control the action of the hoisting raising solenoid valve if the hoisting instruction received is a hoisting raising instruction.

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