Self-limiting control device and electric control fire monitor

Abstract

The invention discloses a self-limiting control device and an electric control fire monitor, which are applied to the technical field of electric control fire monitor control and are used for solving the problems that wiring between an electric control fire monitor and a controller is complicated and the controller needs to control and limit in the prior art. The method specifically comprises the steps that a self-limiting control circuit sends a motor driving signal sent by a controller of the electric control fire monitor to a motor of the electric control fire monitor, and the motor drives a monitor body to rotate in the designated direction; when the cannon body rotates to a target limiting position in the specified direction, the limiting switch module outputs a limiting signal to the self-limiting control circuit under the action of magnetic force of the magnetic element at the target limiting position, and the self-limiting control circuit receives the limiting signal output by the limiting switch module and stops outputting a motor driving signal to the motor according to the limiting signal. The self-limiting control device can achieve automatic limiting at all limiting positions, the number of connecting wires between the controller and the electric control fire monitor is reduced, the operation reliability of the electric control fire monitor is improved, and installation and debugging are simplified.

Description

Technical Field

[0001] The present application relates to the technical field of electric-controlled fire monitor control, and in particular to a self-limiting control device and an electric-controlled fire monitor. Background Art

[0002] At present, electric fire monitors have been widely used because they are labor-saving, convenient and flexible to operate, and can be remotely controlled wirelessly or wired. Operators can stay away from fire sources and perform firefighting work in a safe area.

[0003] At present, the connecting wires between the electric fire monitor and the controller include 8 wires between the controller and the magnetic switch to achieve the limit of the rotation of the electric fire monitor, and 4 wires between the controller and the drive motor. There are 12 wires between the electric fire monitor and the controller. Too many connecting wires between the electric fire monitor and the controller are not conducive to the rotation of the electric fire monitor and the protection of the cables. During the rotation process, the wires are easily broken and short-circuited due to winding, pulling, and wear, thereby causing damage to the electric fire monitor and the controller. The more wires there are, the greater the risk, and the lower the reliability of the electric fire monitor; and the installation position and spacing between the controller and the electric fire monitor are also variable. Too many connecting wires will make the installation wiring and debugging relatively complicated, and the equipment will be damaged during the debugging process due to the easy connection of the wrong wires. Summary of the invention

[0004] The embodiments of the present application provide a self-limiting control device and an electric-controlled fire monitor, which are used to solve the problem in the prior art that the wiring between the electric-controlled fire monitor and the controller is complicated and the controller needs to be controlled to limit the position.

[0005] The technical solutions provided by the embodiments of this application are as follows:

[0006] On the one hand, an embodiment of the present application provides a self-limiting control device, which is applied to an electric-controlled fire monitor. The self-limiting control device includes: a self-limiting control circuit, a limit switch module, and a plurality of magnetic elements;

[0007] The first input end of the self-limiting control circuit is connected to the controller of the electric-controlled fire monitor, the second input end of the self-limiting control circuit is connected to the output end of the limit switch module, and the output end of the self-limiting control circuit is connected to the motor of the electric-controlled fire monitor;

[0008] Each magnetic element is evenly arranged at the limit position on the gun body of the electric-controlled fire monitor, and the outer polarities of the magnetic elements at the two radial limit positions are opposite; the limit switch module is arranged on the gun seat of the electric-controlled fire monitor;

[0009] The self-limiting control circuit is used to send the motor drive signal sent by the controller of the electric-controlled fire monitor to the motor of the electric-controlled fire monitor, so that the motor drives the monitor body to rotate in a specified direction;

[0010] The limit switch module is used to output a limit signal to the self-limit control circuit under the magnetic force of the magnetic element at the target limit position when the gun body rotates to the target limit position in the specified direction;

[0011] The self-limiting control circuit is also used to receive the limit signal output by the limit switch module, cut off the connection between the controller of the electric-controlled fire cannon and the motor of the electric-controlled fire cannon according to the limit signal, and stop outputting the motor drive signal to the motor of the electric-controlled fire cannon.

[0012] In a possible implementation, the self-limiting control circuit includes: a horizontal control circuit and a pitch control circuit;

[0013] The first input end of the horizontal control circuit is connected to the first output end of the controller of the electric-controlled fire monitor, the second input end of the horizontal control circuit is connected to the second output end of the controller of the electric-controlled fire monitor, the third input end of the horizontal control circuit is connected to the first output end of the limit switch module, the fourth input end of the horizontal control circuit is connected to the second output end of the limit switch module, the first output end of the horizontal control circuit is connected to the first end of the horizontal motor of the electric-controlled fire monitor, the second output end of the horizontal control circuit is connected to the second end of the horizontal motor of the electric-controlled fire monitor, and the third output end of the horizontal control circuit is connected to the power supply end of the limit switch module;

[0014] The first input end of the elevation control circuit is connected to the third output end of the controller of the electric-controlled fire cannon, the second input end of the elevation control circuit is connected to the fourth output end of the controller of the electric-controlled fire cannon, the third input end of the elevation control circuit is connected to the seventh output end of the limit switch module, the fourth input end of the elevation control circuit is connected to the eighth output end of the limit switch module, the first output end of the elevation control circuit is connected to the first end of the elevation motor of the electric-controlled fire cannon, the second output end of the elevation control circuit is connected to the second end of the elevation motor of the electric-controlled fire cannon, and the third output end of the elevation control circuit is connected to the power supply end of the limit switch module.

[0015] In a possible implementation, the limit positions include an upper limit, a lower limit, a left limit, and a right limit, and the limit switch module includes: a horizontal limit magnetic control switch and a pitch limit magnetic control switch;

[0016] The S magnetic pole output end of the horizontal limit magnetic control switch is connected to the third input end of the horizontal control circuit, the N magnetic pole output end of the horizontal limit magnetic control switch is connected to the fourth input end of the horizontal control circuit, the power supply end of the horizontal limit magnetic control switch is connected to the third output end of the horizontal control circuit, and the grounding end of the horizontal limit magnetic control switch is connected to the ground; the horizontal limit magnetic control switch, the magnetic element located at the left limit, and the magnetic element located at the right limit are arranged in the same radial section;

[0017] The S magnetic pole output end of the pitch limit magnetic control switch is connected to the third input end of the pitch control circuit, the N magnetic pole output end of the pitch limit magnetic control switch is connected to the fourth input end of the pitch control circuit, the power supply end of the pitch limit magnetic control switch is connected to the third output end of the pitch control circuit, and the ground end of the pitch limit magnetic control switch is connected to the ground; the pitch limit magnetic control switch, the magnetic element located at the upper limit position, and the magnetic element located at the lower limit position are arranged in the same radial section.

[0018] In a possible implementation, the horizontal limit magnetic control switch and the pitch limit magnetic control switch have the same internal structure, and the horizontal limit magnetic control switch includes: an S-pole magnetic proximity switch and an N-pole magnetic proximity switch;

[0019] The power supply end of the S pole magnetic proximity switch and the power supply end of the N pole magnetic proximity switch are connected to a first contact, the first contact is connected to the power supply end of the horizontal limit magnetic control switch, the power supply end of the S pole magnetic proximity switch and the grounding end of the N pole magnetic proximity switch are connected to a second contact, the second contact is connected to the grounding end of the horizontal limit magnetic control switch, the output end of the S pole magnetic proximity switch is connected to the S pole output end of the horizontal limit magnetic control switch, and the output end of the N pole magnetic proximity switch is connected to the N pole output end of the horizontal limit magnetic control switch.

[0020] In a possible implementation, the horizontal control circuit includes: a first rectifier bridge, a first diode, a second diode, a first field effect transistor, a second field effect transistor, a first resistor, a second resistor, a third resistor, and a fourth resistor;

[0021] The first output end of the controller of the electric-controlled fire monitor is respectively connected to the first input end of the first rectifier bridge, the positive electrode of the first diode and the source electrode of the first field effect tube; the negative electrode of the first diode and the drain electrode of the first field effect tube are both connected to the first end of the horizontal motor of the electric-controlled fire monitor; the gate electrode of the first field effect tube is connected to the ground via the first resistor, and the gate electrode of the first field effect tube is also connected to the S magnetic pole output end of the horizontal limit magnetic control switch via the second resistor;

[0022] The second output end of the controller of the electric-controlled fire monitor is respectively connected to the second input end of the first rectifier bridge, the positive electrode of the second diode and the source electrode of the second field effect tube; the negative electrode of the second diode and the drain electrode of the second field effect tube are both connected to the second end of the horizontal motor of the electric-controlled fire monitor; the gate electrode of the second field effect tube is connected to the ground via the third resistor, and the gate electrode of the second field effect tube is also connected to the N magnetic pole output end of the horizontal limit magnetic control switch via the fourth resistor;

[0023] The first output end of the first rectifier bridge is connected to the power supply end of the horizontal limit magnetic control switch, and the second output end of the first rectifier bridge is connected to the ground.

[0024] In a possible implementation, the pitch control circuit includes: a second rectifier bridge, a third diode, a fourth diode, a third field effect transistor, a fourth field effect transistor, a fifth resistor, a sixth resistor, a seventh resistor, and an eighth resistor;

[0025] The third output end of the controller of the electric-controlled fire monitor is respectively connected to the first input end of the second rectifier bridge, the positive electrode of the third diode and the source electrode of the third field effect tube; the negative electrode of the first diode and the drain electrode of the third field effect tube are both connected to the first end of the elevation motor of the electric-controlled fire monitor; the gate electrode of the third field effect tube is connected to the ground via the fifth resistor, and the gate electrode of the third field effect tube is also connected to the S magnetic pole output end of the elevation limit magnetic control switch via the sixth resistor;

[0026] The fourth output end of the controller of the electric-controlled fire monitor is respectively connected to the second input end of the second rectifier bridge, the positive electrode of the fourth diode and the source electrode of the fourth field effect tube; the negative electrode of the fourth diode and the drain electrode of the fourth field effect tube are both connected to the second end of the elevation motor of the electric-controlled fire monitor; the gate electrode of the fourth field effect tube is connected to the ground via the seventh resistor, and the gate electrode of the fourth field effect tube is also connected to the N magnetic pole output end of the elevation limit magnetic control switch via the eighth resistor;

[0027] The first output end of the second rectifier bridge is connected to the power supply end of the pitch limit magnetic control switch, and the second output end of the second rectifier bridge is connected to the ground.

[0028] In a possible implementation, the self-limiting control circuit is integrated into a printed circuit board, and the self-limiting control device further includes: a connector and a junction box;

[0029] The printed circuit board is packaged and arranged inside the junction box, and the printed circuit board is respectively connected to the controller and the motor of the electric-controlled fire monitor through the connector; the junction box is fixedly arranged on the gun seat.

[0030] In a possible implementation, the junction box is a die-cast aluminum alloy waterproof junction box.

[0031] In a possible implementation manner, the joint is a waterproof joint.

[0032] On the other hand, an embodiment of the present application provides an electric-controlled fire cannon, comprising: a motor, a controller, a gun body, a gun mount and the self-limiting control device provided in the above embodiments of the present application; at least four magnetic elements in the self-limiting control device are arranged on the gun body, and the limit switch module and the self-limiting control circuit in the motor and the self-limiting control device are arranged on the gun mount; the self-limiting control device is respectively connected to the motor and the controller; the gun body rotates driven by the motor.

[0033] The beneficial effects of the embodiments of the present application are as follows:

[0034] In the embodiment of the present application, when the gun body rotates to the target limit position, the limit switch module outputs a limit signal to the self-limit control circuit under the magnetic force of the magnetic element at the target limit position, so that the self-limit control circuit stops the motor of the electric fire cannon from outputting the motor drive signal, and the self-limit control device can realize automatic limit at each limit position. Moreover, the self-limit control device is installed on the electric fire cannon and forms an integral part with the electric fire cannon. The limit switch module does not need to lead additional wires to the controller for receiving the limit signal, which reduces the number of connecting wires between the controller and the electric fire cannon, improves the operating reliability of the electric fire cannon, and simplifies installation and debugging.

[0035] Other features and advantages of the present application will be described in the subsequent description, and in part, will become apparent from the description, or will be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0037] Figure 1 This is the electrical wiring schematic diagram of the existing electric-controlled fire monitor in the embodiment of the present application;

[0038] Figure 2 This is a first circuit diagram of the self-limiting control device in the embodiment of the present application;

[0039] Figure 3 This is a schematic diagram of the structure of the self-limiting control device in the embodiment of the present application;

[0040] Figure 4 This is a second circuit diagram of the self-limiting control device in the embodiment of the present application;

[0041] Figure 5 This is a schematic diagram of the structure of the horizontal limit magnetic control switch in the embodiment of the present application;

[0042] Figure 6 This is a circuit diagram of a horizontal limit magnetic switch in an embodiment of the present application;

[0043] Figure 7 This is a third circuit diagram of the self-limiting control device in the embodiment of the present application;

[0044] Figure 8 This is a schematic diagram of the top component structure of a printed circuit board in an embodiment of the present application;

[0045] Fig. 9This is a schematic diagram of the bottom component structure of the printed circuit board in the embodiment of the present application;

[0046] Fig.10 This is a schematic diagram of the structure of a printed circuit board in an embodiment of the present application;

[0047] Fig.11 This is a schematic diagram of the structure of the electric-controlled fire monitor in the embodiment of the present application.

[0048] In the icon, 100-self-limiting control device; 110-self-limiting control circuit; 111-horizontal control circuit; 112-elevation control circuit; 120-limit switch module; 121-horizontal limit magnetic switch; 122-elevation limit magnetic switch; 130-magnetic element; 140-motor; 150-gun body; 160-gun mount; 170-printed circuit board; 180-connector; 190-junction box; 200-electrically controlled fire cannon; 210-controller; K1-S magnetic pole magnetic proximity switch; K2-N pole magnetic proximity switch; VD1-first rectifier bridge; D1-first diode D1; D2-second diode; Q1-first field effect transistor; Q2-second field effect transistor; R1-first resistor; R2-second resistor; R3-third resistor; R4-fourth resistor; VD2-second rectifier bridge; D3-third diode; D4-fourth diode; Q3-third field effect transistor; Q4-fourth field effect transistor; R5-fifth resistor; R6-sixth resistor; R7-seventh resistor; R8-eighth resistor. DETAILED DESCRIPTION

[0049] In order to make the purpose, technical solution and beneficial effects of this application clearer, the technical solution in the embodiment of this application will be clearly and completely described below in conjunction with the drawings in the embodiment of this application. Obviously, the described embodiment is only a part of the embodiment of this application, not all the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0050] It should be noted that the terms "first", "second", etc. mentioned in this application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that such terms can be interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that illustrated or described herein.

[0051] First, the application scenarios and design concepts of the embodiments of the present application are briefly introduced.

[0052] At present, the electrical wiring schematic diagram of the existing electric-controlled fire monitor can be found in Figure 1As shown, the connecting wires between the electric fire monitor and the controller include not only 4 wires for the two groups of drive motors, which are divided into the elevation drive motor and the horizontal drive motor, but also 8 wires for the two groups of magnetic switches, which are divided into the elevation drive motor and the horizontal drive motor, for a total of 12 wires. Too many connecting wires between the electric fire monitor and the controller are not conducive to the rotation of the electric fire monitor and the protection of the cables, and may damage the electric fire monitor and the control circuit and cause it to lose control. The more wires there are, the greater the risk. In addition, the installation position and spacing between the controller and the electric fire monitor are also variable. Too many connecting wires between the electric fire monitor and the controller will make the installation, wiring and debugging relatively complicated.

[0053] To this end, in the embodiment of the present application, when the gun body is rotating to the target limit position through the limit switch module, the limit signal is output to the self-limit control circuit under the magnetic force of the magnetic element at the target limit position, so that the self-limit control circuit stops outputting the motor drive signal to the motor of the electric-controlled fire cannon, and the self-limit control device can realize automatic limit at each limit position. Moreover, the self-limit control device is installed on the electric-controlled fire cannon and forms an integral part with the electric-controlled fire cannon. The limit switch module does not need to lead additional wires to the controller for receiving the limit signal, which reduces the number of connecting wires between the controller and the electric-controlled fire cannon, improves the operating reliability of the electric-controlled fire cannon, and simplifies installation and debugging.

[0054] After introducing the application scenarios and design concepts of the embodiments of the present application, the technical solutions provided by the embodiments of the present application are described in detail below.

[0055] The present application embodiment provides a self-limiting control device, see Figure 2 and Figure 3 As shown, the self-limiting control device 100 applied to the electric-controlled fire monitor provided in the embodiment of the present application at least includes: a self-limiting control circuit 110, a limit switch module 120 and a plurality of magnetic elements 130;

[0056] The first input end of the self-limiting control circuit 110 is connected to the controller of the electric-controlled fire monitor, the second input end of the self-limiting control circuit 110 is connected to the output end of the limit switch module 120, and the output end of the self-limiting control circuit 110 is connected to the motor 140 of the electric-controlled fire monitor;

[0057] Each magnetic element 130 is evenly arranged at a limit position on the gun body 150 of the electric-controlled fire monitor, and the outer polarities of the magnetic elements 130 at the two radial limit positions are opposite; the limit switch module 120 is arranged on the gun seat 160 of the electric-controlled fire monitor;

[0058] The self-limiting control circuit 110 is used to send the motor driving signal sent by the controller of the electric-controlled fire monitor to the motor 140 of the electric-controlled fire monitor, so that the motor 140 drives the gun body 150 to rotate in a specified direction;

[0059] The limit switch module 120 is used to output a limit signal to the self-limit control circuit 110 under the magnetic force of the magnetic element 130 at the target limit position when the gun body 150 rotates to the target limit position along the specified direction;

[0060] The self-limiting control circuit 110 is also used to receive the limit signal output by the limit switch module 120, cut off the connection between the controller of the electric-controlled fire monitor and the motor 140 of the electric-controlled fire monitor according to the limit signal, and stop outputting the motor driving signal to the motor 140 of the electric-controlled fire monitor.

[0061] exist Figure 2 and Figure 3 In the self-limiting control device 100 shown, the limit switch module 120, the self-limiting control circuit 110 and the motor 140 are mounted and fixed on the gun mount 160, the gun mount 160 is fixed, and the magnetic element 130 can be embedded in the limit position on the gun body 150, and the gun body 150 can rotate along the central axis driven by the motor 140. The magnetic element 130 can be divided into a plurality of magnetic element groups, each magnetic element group includes two magnetic elements 130, and the two magnetic elements 130 in each magnetic element group are arranged on the diameter of the same gun body. The corresponding induction parts of each magnetic element group and the limit switch module 120 are located on the radial section of the diameter of each magnetic element group, wherein each induction part of the limit switch module 120 is used to generate magnetic force with the corresponding magnetic element. The magnetic element 130 is a magnetic block element made of magnetic material. The shape and size of the magnetic element 130 can be set according to actual needs. The magnetic element 130 can select at least one of a neodymium iron boron magnet, a samarium cobalt magnet, a magnetic steel, a ferrite magnet, an oxide magnet and a magnet made of a composite permanent magnetic material. Optionally, the magnetic steel can be a cylinder with a diameter of 8 mm. The number of magnetic elements 130 can be set to four or more. Specifically, when the number of magnetic elements 130 is four, the magnetic element 130 can be embedded in the upper limit, lower limit, left limit and right limit of the gun body 150. When the number of magnetic elements 130 is more than four, the magnetic element 130 can be embedded in other limit positions after satisfying the requirements of being embedded in the upper limit, lower limit, left limit and right limit of the gun body 150. The magnetic element 130 has an S pole and an N pole. Among the magnetic elements 130 located at two radial limiting positions, the S pole of one magnetic element 130 faces outwards, and the N pole of the other magnetic element 130 faces outwards.

[0062] In practical applications, the self-limiting control circuit 110 can send the motor driving signal sent by the controller of the electric-controlled fire monitor to the motor 140 of the electric-controlled fire monitor, so that the motor 140 drives the gun body 150 to rotate in a specified direction, wherein the motor driving signal includes a horizontal driving signal and an elevation driving signal, the horizontal driving signal is used to drive the motor 140 to drive the gun body 150 to rotate left or right, and the elevation driving signal is used to drive the motor 140 to drive the gun body 150 to rotate upward or downward. During the rotation of the gun body 150, the magnetic element 130 on the gun body 150 rotates accordingly. When the gun body 150 rotates to the target limit position along the specified direction, the limit signal is output to the self-limiting control circuit 110 under the action of the magnetic element 130 at the target limit position, and the self-limiting control circuit 110 stops outputting the motor driving signal to the motor 140 of the electric-controlled fire monitor according to the limit signal, and the gun body 150 stops rotating at this time, completing the self-limiting of the gun body 150.

[0063] In a possible implementation manner, the self-limiting control circuit 110 in the self-limiting control device 100 provided in the embodiment of the present application has a variety of structures to achieve its functions, see Figure 4 As shown, the self-limiting control circuit 110 may include: a horizontal control circuit 111 and a pitch control circuit 112;

[0064] The first input end of the horizontal control circuit 111 is connected to the first output end of the controller of the electric-controlled fire monitor, the second input end of the horizontal control circuit 111 is connected to the second output end of the controller of the electric-controlled fire monitor, the third input end of the horizontal control circuit 111 is connected to the first output end of the limit switch module 120, the fourth input end of the horizontal control circuit 111 is connected to the second output end of the limit switch module 120, the first output end of the horizontal control circuit 111 is connected to the first end of the horizontal motor of the electric-controlled fire monitor, the second output end of the horizontal control circuit 111 is connected to the second end of the horizontal motor of the electric-controlled fire monitor, and the third output end of the horizontal control circuit 111 is connected to the power supply end of the limit switch module 120;

[0065] The first input end of the elevation control circuit 112 is connected to the third output end of the controller of the electric-controlled fire cannon, the second input end of the elevation control circuit 112 is connected to the fourth output end of the controller of the electric-controlled fire cannon, the third input end of the elevation control circuit 112 is connected to the seventh output end of the limit switch module 120, the fourth input end of the elevation control circuit 112 is connected to the eighth output end of the limit switch module 120, the first output end of the elevation control circuit 112 is connected to the first end of the elevation motor of the electric-controlled fire cannon, the second output end of the elevation control circuit 112 is connected to the second end of the elevation motor of the electric-controlled fire cannon, and the third output end of the elevation control circuit 112 is connected to the power supply end of the limit switch module 120.

[0066] exist Figure 4 In the self-limiting control device 100 shown, when the first output terminal of the controller of the electric-controlled fire cannon outputs a positive voltage and the second output terminal of the controller of the electric-controlled fire cannon outputs a negative voltage, the horizontal control circuit 111 transmits the corresponding voltage to the horizontal motor, and the horizontal motor drives the cannon body to rotate to the left; when the first output terminal of the controller of the electric-controlled fire cannon outputs a negative voltage and the second output terminal of the controller of the electric-controlled fire cannon outputs a positive voltage, the horizontal control circuit 111 transmits the corresponding voltage to the horizontal motor, and the horizontal motor drives the cannon body to rotate to the right. When the motor drives the cannon body to rotate to the limit position in the horizontal direction, the limit switch module 120 inputs a voltage opposite to the output when the horizontal motor drives the cannon body to rotate to the third input terminal or the fourth input terminal of the horizontal control circuit 111, so as to disconnect the connection between the controller and the horizontal motor, and the motor stops driving the cannon body to rotate in the horizontal direction, and the cannon body is limited to a specified position in the horizontal direction. Similarly, when the third output terminal of the controller of the electric-controlled fire cannon outputs a positive voltage and the fourth output terminal of the controller of the electric-controlled fire cannon outputs a negative voltage, the elevation control circuit 112 transmits the corresponding voltage to the elevation motor, and the elevation motor drives the cannon body to rotate upward; when the third output terminal of the controller of the electric-controlled fire cannon outputs a negative voltage and the fourth output terminal of the controller of the electric-controlled fire cannon outputs a positive voltage, the elevation control circuit 112 transmits the corresponding voltage to the elevation motor, and the elevation motor drives the cannon body to rotate downward. When the motor drives the cannon body to rotate to the limit position in the elevation direction, the limit switch module 120 inputs the opposite voltage to the output when the elevation motor drives the cannon body to rotate to the third input terminal or the fourth input terminal of the elevation control circuit 112, so as to disconnect the connection between the controller and the elevation motor, and the motor stops driving the cannon body to rotate in the elevation direction, and the cannon body is limited to the specified position in the elevation direction.

[0067] In a possible implementation manner, the limit positions in the self-limiting control device 100 provided in the embodiment of the present application include an upper limit, a lower limit, a left limit, and a right limit, and the corresponding limit switch module 120 has a variety of structures to realize its functions, see Figure 4 As shown, the limit switch module 120 may include: a horizontal limit magnetic control switch 121 and a pitch limit magnetic control switch 122;

[0068] The S magnetic pole output terminal of the horizontal limit magnetic control switch 121 is connected to the third input terminal of the horizontal control circuit 111, the N magnetic pole output terminal of the horizontal limit magnetic control switch 121 is connected to the fourth input terminal of the horizontal control circuit 111, the power supply terminal of the horizontal limit magnetic control switch 121 is connected to the third output terminal of the horizontal control circuit 111, and the ground terminal of the horizontal limit magnetic control switch 121 is connected to the ground; the horizontal limit magnetic control switch 121, the magnetic element 130 located at the left limit, and the magnetic element 130 located at the right limit are arranged in the same radial section;

[0069] The S magnetic pole output end of the pitch limit magnetic control switch 122 is connected to the third input end of the pitch control circuit 112, the N magnetic pole output end of the pitch limit magnetic control switch 122 is connected to the fourth input end of the pitch control circuit 112, the power supply end of the pitch limit magnetic control switch 122 is connected to the third output end of the pitch control circuit 112, and the ground end of the pitch limit magnetic control switch 122 is connected to the ground; the pitch limit magnetic control switch 122, the magnetic element 130 located at the upper limit position, and the magnetic element 130 located at the lower limit position are arranged in the same radial section.

[0070] exist Figure 4 In the self-limiting control device 100 shown, among the magnetic elements located at the left limit position and the magnetic elements located at the right limit position, the S pole of one magnetic element faces outward, and the N pole of one magnetic element faces outward, for example, the S pole of the magnetic element located at the left limit position is set outward, and the N pole of the magnetic element located at the right limit position is set outward. Similarly, among the magnetic elements located at the upper limit position and the magnetic elements located at the lower limit position, the S pole of one magnetic element faces outward, and the N pole of one magnetic element faces outward, for example, the S pole of the magnetic element located at the lower limit position is set outward, and the S pole of the magnetic element located at the lower limit position is set outward. When the horizontal limit magnetic control switch 121 is close to a magnetic element with its S pole facing outward, the output level of the S pole output terminal of the horizontal limit magnetic control switch 121 is flipped. When the horizontal limit magnetic control switch 121 is close to a magnetic element with its N pole facing outward, the output level of the N pole output terminal of the horizontal limit magnetic control switch 121 is flipped. Since the horizontal limit magnetic control switch 121 inputs the flipped voltage to the third input terminal or the fourth input terminal of the horizontal control circuit 111, the connection between the controller and the horizontal motor is disconnected, the motor stops driving the gun body to rotate in the horizontal direction, and the gun body is limited to a specified position in the horizontal direction. Similarly, when the pitch limit magnetic control switch 122 is close to a magnetic element with its S pole facing outward, the output level of the S pole output terminal of the pitch limit magnetic control switch 122 is flipped; when the pitch limit magnetic control switch 122 is close to a magnetic element with its N pole facing outward, the output level of the N pole output terminal of the pitch limit magnetic control switch 122 is flipped; because the pitch limit magnetic control switch 122 inputs the flipped voltage to the third input terminal or the fourth input terminal of the pitch control circuit 112, the connection between the controller and the pitch motor is disconnected, the motor stops driving the gun body to rotate in the pitch direction, and the gun body is limited to a specified position in the pitch direction.

[0071] In a possible implementation manner, the horizontal limit magnetic switch 121 and the pitch limit magnetic switch 122 provided in the embodiment of the present application have a variety of structures to achieve their functions, see Figure 5 and Figure 6 As shown, the horizontal limit magnetic control switch 121 and the pitch limit magnetic control switch 122 have the same internal structure. The horizontal limit magnetic control switch 121 includes: an S-pole magnetic proximity switch K1 and an N-pole magnetic proximity switch K2;

[0072] The power supply end of the S pole magnetic proximity switch K1 and the power supply end of the N pole magnetic proximity switch K2 are connected to a first contact, the first contact is connected to the power supply end of the horizontal limit magnetic control switch 121, the power supply end of the S pole magnetic proximity switch K1 and the grounding end of the N pole magnetic proximity switch K2 are connected to a second contact, the second contact is connected to the grounding end of the horizontal limit magnetic control switch 121, the output end of the S pole magnetic proximity switch K1 is connected to the S pole output end of the horizontal limit magnetic control switch 121, and the output end of the N pole magnetic proximity switch K2 is connected to the N pole output end of the horizontal limit magnetic control switch 121.

[0073] exist Figure 5 and Figure 6 In the horizontal limit magnetic control switch 121 shown, the S-pole magnetic proximity switch K1 and the N-pole magnetic proximity switch K2 can be encapsulated in a housing by resin, and the housing can be set as a copper cylinder. In order to facilitate installation on the gun mount, the outer thread of the housing is M12, and the S-pole magnetic proximity switch K1 and the N-pole magnetic proximity switch K2 in the housing can be connected with a cable of more than one meter, and the cable includes a red line, a black line, a blue line and a yellow line, wherein the red line is connected to the power supply end of the horizontal limit magnetic control switch 121, the black line is connected to the ground end of the horizontal limit magnetic control switch 121, the blue line is connected to the S-pole output end of the horizontal limit magnetic control switch 121, and the yellow line is connected to the N-pole output end of the horizontal limit magnetic control switch 121. The power supply end of the horizontal limit magnetic control switch 121 is generally a DC power supply, and the working voltage is 24V. The working principle of the horizontal limit magnetic control switch 121 is that when no magnetic pole approaches the horizontal limit magnetic control switch 121, the S magnetic pole magnetic proximity switch K1 outputs a high level through the S magnetic pole output terminal, and the N magnetic pole magnetic proximity switch K2 outputs a high level through the N magnetic pole output terminal. Only when the corresponding magnetic pole approaches, the output changes to a low level. That is, when the S magnetic pole approaches the horizontal limit magnetic control switch 121, only the output of the S magnetic pole magnetic proximity switch K1 through the S magnetic pole output terminal changes from a high level to a low level, and the output of the N magnetic pole magnetic proximity switch K2 through the N magnetic pole output terminal remains high level and does not change; when the S magnetic pole leaves the horizontal limit magnetic control switch 121, only the S magnetic pole magnetic proximity switch K1 returns to a high level through the output of the S magnetic pole output terminal. Similarly, when the N pole approaches the horizontal limit magnetic control switch 121, only the output of the N pole magnetic proximity switch K2 changes from high level to low level through the output of the N pole output terminal, and the output of the S pole magnetic proximity switch K1 through the S pole output terminal remains high level and does not change; when the N pole leaves the horizontal limit magnetic control switch 121, only the output of the N pole magnetic proximity switch K2 returns to high level through the output of the N pole output terminal. The internal structure of the horizontal limit magnetic control switch 121 and the pitch limit magnetic control switch 122 are the same, and the working principles of the horizontal limit magnetic control switch 121 and the pitch limit magnetic control switch 122 are the same, which will not be repeated here.

[0074] In a possible implementation manner, the horizontal control circuit 111 in the self-limiting control circuit 110 provided in the embodiment of the present application has a variety of structures to achieve its functions, see Figure 7 As shown, the horizontal control circuit 111 includes: a first rectifier bridge VD1, a first diode D1, a second diode D2, a first field effect transistor Q1, a second field effect transistor Q2, a first resistor R1, a second resistor R2, a third resistor R3, and a fourth resistor R4;

[0075] The first output end of the controller of the electric-controlled fire monitor is respectively connected to the first input end of the first rectifier bridge VD1, the positive electrode of the first diode D1 and the source electrode of the first field effect tube Q1; the negative electrode of the first diode D1 and the drain electrode of the first field effect tube Q1 are both connected to the first end of the horizontal motor of the electric-controlled fire monitor; the gate electrode of the first field effect tube Q1 is connected to the ground via the first resistor R1, and the gate electrode of the first field effect tube Q1 is also connected to the S magnetic pole output end of the horizontal limit magnetic control switch 121 via the second resistor R2;

[0076] The second output end of the controller of the electric-controlled fire monitor is respectively connected to the second input end of the first rectifier bridge VD1, the positive electrode of the second diode D2 and the source electrode of the second field effect tube Q2; the negative electrode of the second diode D2 and the drain electrode of the second field effect tube Q2 are both connected to the second end of the horizontal motor of the electric-controlled fire monitor; the gate electrode of the second field effect tube Q2 is connected to the ground via the third resistor R3, and the gate electrode of the second field effect tube Q2 is also connected to the N magnetic pole output end of the horizontal limit magnetic control switch 121 via the fourth resistor R4;

[0077] The first output end of the first rectifier bridge VD1 is connected to the power supply end of the horizontal limit magnetic control switch 121, and the second output end of the first rectifier bridge VD1 is connected to the ground.

[0078] exist Figure 7 In the self-limiting control device 100 shown, the first rectifier bridge VD1 is composed of four diodes, and the diode model can be selected as 1N4007. The first rectifier bridge VD1 is used to power the horizontal limit magnetic control switch 121. The first diode D1 and the second diode D2 are large current unidirectional diodes, and their model can be selected as 6A10. The first diode D1 and the second diode D2 are used to forward conduct or reverse cut off the connection between the controller and the horizontal motor. The first field effect transistor Q1 and the second field effect transistor Q2 are N-channel field effect transistors, and their model can be selected as 75N75. The first field effect transistor Q1 and the second field effect transistor Q2 are used as electronic switches, which are respectively connected in parallel with the first diode D1 and the second diode D2. The first field effect transistor Q1 and the second field effect transistor Q2 are used to conduct or cut off the connection between the controller and the horizontal motor under the control of the horizontal limit magnetic control switch 121.

[0079] In practical applications, the working principle of the horizontal control circuit 111 is as follows: when the controller drives the horizontal motor to rotate forward and the gun body rotates to the left, that is, the X1 terminal is positive and the X2 terminal is negative, which is a forward drive. The first diode D1 is turned on, the second diode D2 is turned off, the first rectifier bridge VD1 synchronously supplies power to the horizontal limit magnetic control switch 121, the yellow line of the horizontal limit magnetic control switch 121 outputs a high level, the second field effect tube Q2 is turned on, the horizontal control circuit 111 is forwardly conducted, the horizontal motor rotates forward, and the gun body rotates to the left; the magnetic element 130 located at the left limit is N-pole outward, when it rotates to the left with the gun body and approaches the horizontal limit magnetic control switch 121, the N-pole output terminal of the elevation and elevation magnetic control switch outputs a low level, and the output of the S-pole output terminal remains unchanged and is still a high level. At this time, the second diode D2 and the second field effect tube Q2 are both turned off, the horizontal control circuit 111 cannot be turned on, and the horizontal motor stops rotating forward, so that the gun body is automatically stopped from rotating to the left. Since the output of the S magnetic pole output end of the elevation and pitch magnetic control switch remains unchanged, the controller can reversely drive the motor, that is, the X2 end is positive and the X1 end is negative, which is reverse driving. The second diode D2 is turned on, the first diode D1 is turned off, and the first rectifier bridge VD1 still supplies power to the horizontal limit magnetic control switch 121 synchronously. The blue line of the horizontal limit magnetic control switch 121 outputs a high level, the first field effect tube Q1 is turned on, the horizontal control circuit 111 is reversely conducted, and the horizontal motor reverses, driving the gun body to rotate to the right; the magnetic element 130 located at the right limit is S-pole outward, when it rotates rightward with the gun body and approaches the horizontal limit magnetic control switch 121, the S magnetic pole output end of the elevation and pitch magnetic control switch outputs a low level, and the output of the N magnetic pole output end has been restored to a high level. At this time, the first diode D1 and the first field effect tube Q1 are both turned off, the horizontal control circuit 111 cannot be turned on, and the horizontal motor stops reversing, so that the gun body is automatically stopped from rotating to the right.

[0080] In a possible implementation manner, the pitch control circuit 112 in the self-limiting control circuit 110 provided in the embodiment of the present application has a variety of structures to achieve its functions, see Figure 7 As shown, the pitch control circuit 112 includes: a second rectifier bridge VD2, a third diode D3, a fourth diode D4, a third field effect transistor Q3, a fourth field effect transistor Q4, a fifth resistor R5, a sixth resistor R6, a seventh resistor R7, and an eighth resistor R8;

[0081] The third output terminal of the controller of the electric-controlled fire monitor is respectively connected to the first input terminal of the second rectifier bridge VD2, the positive electrode of the third diode D3 and the source electrode of the third field effect tube Q3; the negative electrode of the third diode D3 and the drain electrode of the third field effect tube Q3 are both connected to the first terminal of the elevation motor of the electric-controlled fire monitor; the gate electrode of the third field effect tube Q3 is connected to the ground via the fifth resistor R5, and the gate electrode of the third field effect tube Q3 is also connected to the S magnetic pole output terminal of the elevation limit magnetic control switch 122 via the sixth resistor R6;

[0082] The fourth output terminal of the controller of the electric-controlled fire monitor is respectively connected to the second input terminal of the second rectifier bridge VD2, the positive electrode of the fourth diode D4 and the source electrode of the fourth field effect tube Q4; the negative electrode of the fourth diode D4 and the drain electrode of the fourth field effect tube Q4 are both connected to the second end of the elevation motor of the electric-controlled fire monitor; the gate electrode of the fourth field effect tube Q4 is connected to the ground via the seventh resistor R7, and the gate electrode of the fourth field effect tube Q4 is also connected to the N magnetic pole output terminal of the elevation limit magnetic control switch 122 via the eighth resistor R8;

[0083] A first output end of the second rectifier bridge VD2 is connected to the power supply end of the pitch limit magnetic control switch 122 , and a second output end of the second rectifier bridge VD2 is connected to the ground.

[0084] exist Figure 7 In the self-limiting control device 100 shown, the pitch control circuit 112 has the same circuit structure as the pitch control circuit 112. The second rectifier bridge VD2 is composed of four diodes, and the diode model can be selected as 1N4007. The second rectifier bridge VD2 is used to power the pitch limit magnetic control switch 122. The third diode D3 and the fourth diode D4 are large current unidirectional diodes, and their model can be selected as 6A10. The third diode D3 and the fourth diode D4 are used to forward conduct or reversely cut off the connection between the controller and the pitch motor. The third field effect transistor Q3 and the fourth field effect transistor Q4 are N-channel field effect transistors, and their model can be selected as 75N75. The third field effect transistor Q3 and the fourth field effect transistor Q4 are used as electronic switches, which are connected in parallel with the third diode D3 and the fourth diode D4 respectively. The third field effect transistor Q3 and the fourth field effect transistor Q4 are used to conduct or cut off the connection between the controller and the pitch motor under the control of the pitch limit magnetic control switch 122.

[0085] In practical applications, the working principle of the elevation control circuit 112 is as follows: when the controller drives the elevation motor to rotate forward and the gun body rotates to the left, that is, the X3 terminal is positive and the X4 terminal is negative, which is a forward drive. The third diode D3 is turned on, the fourth diode D4 is turned off, and the second rectifier bridge VD2 synchronously supplies power to the elevation limit magnetic control switch 122, the yellow line of the elevation limit magnetic control switch 122 outputs a high level, the fourth field effect tube Q4 is turned on, the elevation control circuit 112 is forwardly conducted, the elevation motor rotates forward, and drives the gun body to rotate upward; the magnetic element 130 located at the upper limit position has an N pole facing outward, and when it rotates upward with the gun body and approaches the elevation limit magnetic control switch 122, the N magnetic pole output terminal of the elevation magnetic control switch outputs a low level, and the output of the S magnetic pole output terminal remains unchanged and is still a high level. At this time, the fourth diode D4 and the fourth field effect tube Q4 are both turned off, the elevation control circuit 112 cannot be turned on, and the elevation motor stops rotating forward, so that the upward rotation of the gun body is automatically limited and stopped. Since the output of the S magnetic pole output end of the elevation and pitch magnetic control switch remains unchanged, the controller can reversely drive the motor, that is, the X4 end is positive and the X3 end is negative, which is reverse driving at this time. The fourth diode D4 is turned on, the third diode D3 is turned off, and the second rectifier bridge VD2 still supplies power to the elevation and pitch limit magnetic control switch 122 synchronously. The blue line of the elevation and pitch limit magnetic control switch 122 outputs a high level, the third field effect tube Q3 is turned on, the elevation and pitch control circuit 112 is reversely conducted, and the elevation and pitch motor reverses, driving the gun body to rotate downward; the magnetic element 130 located at the lower limit is S-pole outward, when it rotates downward with the gun body and approaches the elevation and pitch limit magnetic control switch 122, the S magnetic pole output end of the elevation and pitch magnetic control switch outputs a low level, and the output of the N magnetic pole output end has been restored to a high level. At this time, the third diode D3 and the third field effect tube Q3 are both turned off, the elevation and pitch control circuit 112 cannot be turned on, and the elevation and pitch motor stops reversing, so that the downward rotation of the gun body is automatically stopped by the limit.

[0086] In one possible implementation, see Figure 8-Figure 10 As shown, the self-limiting control circuit 110 is integrated into the printed circuit board 170, and the self-limiting control device 100 further includes: a connector 180 and a junction box 190;

[0087] The printed circuit board 170 is packaged and arranged inside the junction box 190. The printed circuit board 170 is connected to the controller and the motor of the electric-controlled fire monitor through the connector 180. The junction box 190 is fixedly arranged on the monitor seat.

[0088] In practical applications, all electronic components in the self-limiting control circuit 110 can be welded on a printed circuit board 170 (PCB). Two connectors 180 can be provided, and the two connectors are symmetrically arranged at both ends of the junction box 190. The junction box 190 is a die-cast aluminum alloy waterproof junction box, and the printed circuit board 170 is arranged inside the die-cast aluminum alloy waterproof junction box, and the die-cast aluminum alloy waterproof junction box plays a role of waterproof and dustproof. The connector 180 is a waterproof connector. The connector 180 is used to connect the printed circuit board 170 to the controller and the motor of the electric fire monitor respectively while preventing water from entering the junction box 190.

[0089] Based on the above embodiments, the present application provides an electric controlled fire monitor. Fig.11 As shown, the electric fire monitor 200 includes: a motor 140, a controller 210, a gun body 150, a gun seat 160, and the above-mentioned self-limiting control device provided by the implementation of this application; at least four magnetic elements in the self-limiting control device are arranged on the gun body 150, and the limit switch module and the self-limiting control circuit in the motor and the self-limiting control device are arranged on the gun seat 160; the self-limiting control device is connected to the motor 140 and the controller 210 respectively; the gun body 150 rotates under the drive of the motor 140. Among them, the motor 140 includes a horizontal motor and an elevation motor, and the controller 210 includes a single-chip microcomputer, a horizontal single-machine driving circuit, and an elevation motor driving circuit.

[0090] It should be noted that the principle of solving the technical problem of the electric fire cannon provided in the embodiment of the present application is similar to the self-limiting control device provided in the embodiment of the present application. Therefore, the implementation of the electric fire cannon provided in the embodiment of the present application can refer to the implementation of the self-limiting control device provided in the embodiment of the present application, and the repeated parts will not be repeated.

[0091] It should be noted that, although several units or subunits of the device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present application, the features and functions of two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided into multiple units to be embodied.

[0092] In addition, although the operations of the method of the present application are described in a specific order in the drawings, this does not require or imply that the operations must be performed in this specific order, or that all the operations shown must be performed to achieve the desired results. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step, and / or one step may be decomposed into multiple steps.

[0093] Although the preferred embodiments of the present application have been described, those skilled in the art may make other changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications falling within the scope of the present application.

[0094] Obviously, those skilled in the art can make various changes and modifications to the embodiments of the present application without departing from the spirit and scope of the embodiments of the present application. Thus, if these modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A self-limiting control device, applied to an electric-controlled fire monitor, characterized in that: The self-limiting control device comprises: a self-limiting control circuit, a limit switch module and a plurality of magnetic elements; The first input end of the self-limiting control circuit is connected to the controller of the electric-controlled fire monitor, the second input end of the self-limiting control circuit is connected to the output end of the limit switch module, and the output end of the self-limiting control circuit is connected to the motor of the electric-controlled fire monitor; Each of the magnetic elements is evenly arranged at the limit position on the gun body of the electric-controlled fire monitor, and the outer polarities of the magnetic elements at the two radial limit positions are opposite; the limit switch module is arranged on the gun seat of the electric-controlled fire monitor; The self-limiting control circuit is used to send the motor driving signal sent by the controller of the electric-controlled fire monitor to the motor of the electric-controlled fire monitor, so that the motor drives the gun body to rotate in a specified direction; The limit switch module is used for outputting a limit signal to the self-limit control circuit under the magnetic force of the magnetic element at the target limit position when the gun body rotates to the target limit position along the specified direction; The self-limiting control circuit is also used to receive the limit signal output by the limit switch module, cut off the connection between the controller of the electric-controlled fire cannon and the motor of the electric-controlled fire cannon according to the limit signal, and stop outputting the motor drive signal to the motor of the electric-controlled fire cannon.

2. The self-limiting control device according to claim 1, characterized in that: The self-limiting control circuit comprises: a horizontal control circuit and a pitch control circuit; The first input end of the horizontal control circuit is connected to the first output end of the controller of the electric-controlled fire monitor, the second input end of the horizontal control circuit is connected to the second output end of the controller of the electric-controlled fire monitor, the third input end of the horizontal control circuit is connected to the first output end of the limit switch module, the fourth input end of the horizontal control circuit is connected to the second output end of the limit switch module, the first output end of the horizontal control circuit is connected to the first end of the horizontal motor of the electric-controlled fire monitor, the second output end of the horizontal control circuit is connected to the second end of the horizontal motor of the electric-controlled fire monitor, and the third output end of the horizontal control circuit is connected to the power supply end of the limit switch module; The first input end of the elevation control circuit is connected to the third output end of the controller of the electric-controlled fire cannon, the second input end of the elevation control circuit is connected to the fourth output end of the controller of the electric-controlled fire cannon, the third input end of the elevation control circuit is connected to the seventh output end of the limit switch module, the fourth input end of the elevation control circuit is connected to the eighth output end of the limit switch module, the first output end of the elevation control circuit is connected to the first end of the elevation motor of the electric-controlled fire cannon, the second output end of the elevation control circuit is connected to the second end of the elevation motor of the electric-controlled fire cannon, and the third output end of the elevation control circuit is connected to the power supply end of the limit switch module.

3. The self-limiting control device according to claim 2, characterized in that: The limit positions include an upper limit, a lower limit, a left limit and a right limit, and the limit switch module includes: a horizontal limit magnetic switch and a pitch limit magnetic switch; The S magnetic pole output end of the horizontal limit magnetic control switch is connected to the third input end of the horizontal control circuit, the N magnetic pole output end of the horizontal limit magnetic control switch is connected to the fourth input end of the horizontal control circuit, the power supply end of the horizontal limit magnetic control switch is connected to the third output end of the horizontal control circuit, and the ground end of the horizontal limit magnetic control switch is connected to the ground; the horizontal limit magnetic control switch, the magnetic element located at the left limit and the magnetic element located at the right limit are arranged in the same radial section; The S magnetic pole output end of the pitch limit magnetic control switch is connected to the third input end of the pitch control circuit, the N magnetic pole output end of the pitch limit magnetic control switch is connected to the fourth input end of the pitch control circuit, the power supply end of the pitch limit magnetic control switch is connected to the third output end of the pitch control circuit, and the ground end of the pitch limit magnetic control switch is connected to the ground; the pitch limit magnetic control switch, the magnetic element located at the upper limit position, and the magnetic element located at the lower limit position are arranged in the same radial section.

4. The self-limiting control device according to claim 3, characterized in that: The horizontal limit magnetic control switch and the pitch limit magnetic control switch have the same internal structure. The horizontal limit magnetic control switch includes: an S-pole magnetic proximity switch and an N-pole magnetic proximity switch; The power supply end of the S-pole magnetic proximity switch and the power supply end of the N-pole magnetic proximity switch are connected to a first contact, the first contact is connected to the power supply end of the horizontal limit magnetic control switch, the power supply end of the S-pole magnetic proximity switch and the grounding end of the N-pole magnetic proximity switch are connected to a second contact, the second contact is connected to the grounding end of the horizontal limit magnetic control switch, the output end of the S-pole magnetic proximity switch is connected to the S-pole output end of the horizontal limit magnetic control switch, and the output end of the N-pole magnetic proximity switch is connected to the N-pole output end of the horizontal limit magnetic control switch.

5. The self-limiting control device according to claim 3, characterized in that: The horizontal control circuit comprises: a first rectifier bridge, a first diode, a second diode, a first field effect transistor, a second field effect transistor, a first resistor, a second resistor, a third resistor, and a fourth resistor; The first output end of the controller of the electric-controlled fire monitor is respectively connected to the first input end of the first rectifier bridge, the positive electrode of the first diode and the source electrode of the first field effect tube; the negative electrode of the first diode and the drain electrode of the first field effect tube are both connected to the first end of the horizontal motor of the electric-controlled fire monitor; the gate electrode of the first field effect tube is connected to the ground via the first resistor, and the gate electrode of the first field effect tube is also connected to the S magnetic pole output end of the horizontal limit magnetic control switch via the second resistor; The second output end of the controller of the electric-controlled fire monitor is respectively connected to the second input end of the first rectifier bridge, the positive electrode of the second diode and the source electrode of the second field effect tube; the negative electrode of the second diode and the drain electrode of the second field effect tube are both connected to the second end of the horizontal motor of the electric-controlled fire monitor; the gate electrode of the second field effect tube is connected to the ground via the third resistor, and the gate electrode of the second field effect tube is also connected to the N magnetic pole output end of the horizontal limit magnetic control switch via the fourth resistor; The first output end of the first rectifier bridge is connected to the power supply end of the horizontal limit magnetic control switch, and the second output end of the first rectifier bridge is connected to the ground.

6. The self-limiting control device according to claim 3, characterized in that: The pitch control circuit comprises: a second rectifier bridge, a third diode, a fourth diode, a third field effect transistor, a fourth field effect transistor, a fifth resistor, a sixth resistor, a seventh resistor, and an eighth resistor; The third output end of the controller of the electric-controlled fire monitor is respectively connected to the first input end of the second rectifier bridge, the positive electrode of the third diode and the source electrode of the third field effect tube; the negative electrode of the third diode and the drain electrode of the third field effect tube are both connected to the first end of the elevation motor of the electric-controlled fire monitor; the gate electrode of the third field effect tube is connected to the ground via the fifth resistor, and the gate electrode of the third field effect tube is also connected to the S magnetic pole output end of the elevation limit magnetic control switch via the sixth resistor; The fourth output end of the controller of the electric-controlled fire monitor is respectively connected to the second input end of the second rectifier bridge, the positive electrode of the fourth diode and the source electrode of the fourth field effect tube; the negative electrode of the fourth diode and the drain electrode of the fourth field effect tube are both connected to the second end of the elevation motor of the electric-controlled fire monitor; the gate electrode of the fourth field effect tube is connected to the ground via the seventh resistor, and the gate electrode of the fourth field effect tube is also connected to the N magnetic pole output end of the elevation limit magnetic control switch via the eighth resistor; The first output end of the second rectifier bridge is connected to the power supply end of the pitch limit magnetic control switch, and the second output end of the second rectifier bridge is connected to the ground.

7. The self-limiting control device according to any one of claims 1 to 6, characterized in that: The self-limiting control circuit is integrated into a printed circuit board, and the self-limiting control device further comprises: a connector and a junction box; The printed circuit board is packaged and arranged inside the junction box, and the printed circuit board is respectively connected to the controller and the motor of the electric-controlled fire monitor through the connector; the junction box is fixedly arranged on the gun seat.

8. The self-limiting control device according to claim 7, characterized in that: The junction box is a die-cast aluminum alloy waterproof junction box.

9. The self-limiting control device according to claim 8, characterized in that: The joint is a waterproof joint.

10. An electric-controlled fire monitor, characterized in that: include: A motor, a controller, a gun body, a gun mount and a self-limiting control device as described in any one of claims 1 to 9; at least four magnetic elements in the self-limiting control device are arranged on the gun body, and the motor and the limit switch module and the self-limiting control circuit in the self-limiting control device are arranged on the gun mount; the self-limiting control device is respectively connected to the motor and the controller; the gun body rotates driven by the motor.

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