Damping device, control method thereof and fire fighting truck

Abstract

The invention provides a damping device, a control method thereof and a fire fighting truck. The fire fighting truck comprises a rotary table, an arm frame and a telescopic cylinder. One end of the boom is rotationally connected to the turntable; a cylinder barrel of the telescopic cylinder is rotationally connected to the rotary table; the damping device comprises a damping hydraulic cylinder, an acquisition unit, a valve group and a control unit; the damping hydraulic cylinder comprises a first cylinder body and a second cylinder body which are matched in a telescopic mode, the first cylinder body is connected to the arm frame, and a damping hole is formed in the damping hydraulic cylinder and is in a normally-open state. A cylinder rod of the telescopic cylinder is rotationally connected to the second cylinder body; the acquisition unit can measure vibration parameters of the cantilever crane; the valve group is connected to the first cylinder body and the second cylinder body through a hydraulic loop and can control on-off of pressure liquid. The control unit is coupled to the collection unit and the valve group. The damping device controls the valve group to be opened through the control unit so as to restrain vibration of the boom.

Description

Technical Field

[0001] The present disclosure relates to the technical field of fire fighting vehicles, and in particular to a shock absorbing device and a control method thereof, and a fire fighting vehicle. Background Art

[0002] In response to the development of high-rise buildings, the height of ladder fire trucks has been increasing. Currently, common ladder fire trucks include 32-meter ladder fire trucks (whose boom is generally a four-section straight arm telescopic structure), 42-meter ladder fire trucks (whose boom is generally a five-section straight arm telescopic structure), and 53-meter ladder fire trucks (whose boom is generally a six-section straight arm telescopic structure). In order to meet the use of ladder fire trucks with higher height levels, pulleys are currently added to the boom to slide up and down, which is faster than the work bucket to transfer personnel. However, due to the excessive length of the boom, this brings about the problem of excessive swing amplitude of the boom, and the boom structure of the ladder is not as stable as the closed box structure of the aerial platform, and a larger swing amplitude will affect the rescue effect and the safety of rescuers and trapped people during the transfer process.

[0003] Firefighting and rescue is a very dangerous task, especially when lifting and rescuing, the stability of the personnel on the working platform is related to the safety of their lives. Since the working span of the firefighting boom above 50 meters is very large, when personnel go up and down the working platform, spray water to extinguish the fire, or are affected by external factors such as wind, the inertia of movement will cause a lot of shaking, which is easy to cause dangerous accidents. Summary of the invention

[0004] A main purpose of the present disclosure is to overcome at least one defect of the above-mentioned prior art and to provide a shock absorbing device that can effectively suppress the shaking of the boom caused by external factors and at the same time improve the stability of the boom when it is in a stationary state.

[0005] To achieve the above objectives, the present disclosure adopts the following technical solutions:

[0006] According to one aspect of the present disclosure, a shock absorbing device is provided, which is used to be arranged in a fire truck; the fire truck includes a turntable, a boom and a telescopic cylinder; one end of the boom is rotatably connected to the turntable; the telescopic cylinder includes a cylinder barrel and a cylinder rod, and the cylinder barrel is rotatably connected to the turntable; the shock absorbing device includes a damping hydraulic cylinder, a collection unit, a valve group and a control unit; the damping hydraulic cylinder includes a first cylinder body and a second cylinder body that are telescopically matched, a shock absorbing elastic member is connected between the first cylinder body and the second cylinder body, the first cylinder body is connected to the boom, and a damping hole is provided inside the damping hydraulic cylinder, and the damping hole is in a normally open state; one end of the cylinder rod extending out of the cylinder barrel is rotatably connected to the second cylinder body; the collection unit can measure the vibration parameters of the boom; the valve group is connected to the first cylinder body and the second cylinder body through a hydraulic circuit, and can control the on-off of the pressure liquid flowing through the damping hole; the control unit is coupled to the collection unit and the valve group respectively, and the shock absorbing device controls the valve group to open through the control unit to suppress the vibration of the boom.

[0007] According to one of the embodiments of the present disclosure, a ladder working platform is provided at one end of the boom away from the turntable, and the collection unit is provided on the ladder working platform.

[0008] According to one of the embodiments of the present disclosure, wherein: the acquisition unit includes a three-axis vibration sensor; and / or the control unit includes a PLC.

[0009] Another main purpose of the present disclosure is to overcome at least one defect of the above-mentioned prior art and provide a fire truck using the above-mentioned shock absorbing device.

[0010] To achieve the above objectives, the present disclosure adopts the following technical solutions:

[0011] According to another aspect of the present disclosure, a fire truck is provided, which includes the shock absorbing device proposed in the present disclosure and described in the above embodiments.

[0012] Another main purpose of the present disclosure is to overcome at least one of the above-mentioned defects of the prior art and provide a control method for a shock absorbing device.

[0013] To achieve the above objectives, the present disclosure adopts the following technical solutions:

[0014] According to another aspect of the present disclosure, a control method for a shock absorbing device is provided, which is used to control the shock absorbing device proposed in the present disclosure and described in the above-mentioned embodiments; the control method comprises: measuring the vibration parameters of the boom when the boom vibrates; comparing the measured value of the vibration parameter with a preset value; when the measured value exceeds the preset value, controlling the valve group to open and continue for a preset intervention time to suppress the vibration of the boom.

[0015] According to one embodiment of the present disclosure, the vibration parameter includes at least one of a vibration speed and a vibration amplitude.

[0016] According to one embodiment of the present disclosure, the step of comparing the measured value of the vibration parameter with the preset value includes: when the acquisition unit detects the first first half cycle of boom vibration, comparing the measured value of the first first half cycle with the first preset value; when the measured value of the first first half cycle exceeds the first preset value, comparing the measured value of the first second half cycle of boom vibration with the second preset value, the second preset value is less than the first preset value; when the measured value of the first second half cycle exceeds the second preset value, the control valve group opens and continues for a preset intervention time.

[0017] According to one embodiment of the present disclosure, the second preset value is 50% to 90% of the first preset value.

[0018] According to one of the embodiments of the present disclosure, the step of controlling the valve group to open and continue for a preset intervention time includes: measuring the vibration frequency of the boom vibration in the first second half cycle, and calculating the vibration cycle based on the vibration frequency; when the boom vibration enters the second first half cycle, controlling the valve group to open and continue for a first intervention time, and the first intervention time is less than 1 / 2 of the vibration cycle; one shock absorption intervention ends, and continuing to measure the current vibration parameters.

[0019] According to one embodiment of the present disclosure, the first intervention time is 1 / 8 of the vibration period.

[0020] According to one embodiment of the present disclosure, the step of controlling the valve group to open and continue for a preset intervention time also includes: after the valve group is opened for a first intervention time, and when the boom vibration enters the second second half cycle, controlling the valve group to open for a second intervention time, and the second intervention time is greater than the first intervention time and less than 1 / 2 of the vibration cycle.

[0021] According to one embodiment of the present disclosure, the second intervention time is 1 / 4 of the vibration period.

[0022] It can be seen from the above technical solutions that the advantages and positive effects of the shock absorbing device and the control method thereof, and the fire truck proposed in the present disclosure are:

[0023] The shock absorbing device proposed in the present disclosure includes a damping hydraulic cylinder, a collection unit, a valve group and a control unit; the damping hydraulic cylinder includes a first cylinder body and a second cylinder body that are telescopically matched, the first cylinder body is connected to the boom, and the damping hydraulic cylinder has a damping hole inside, and the damping hole is in a normally open state; the cylinder rod of the telescopic cylinder is rotatably connected to the second cylinder body; the collection unit can measure the vibration parameters of the boom; the valve group is connected to the first and second cylinder bodies through a hydraulic circuit, which can control the on and off of the pressure liquid; the control unit is coupled to the collection unit and the valve group respectively; the shock absorbing device controls the opening of the valve group through the control unit to suppress the vibration of the boom. Through the above design, the present disclosure can realize the design of controllable hydraulic pressure of the damping hydraulic cylinder, thereby suppressing the vibration generated by the external force of the boom, and improving the stability of the boom during operation. At the same time, the present disclosure controls the valve group according to the comparison between the measured value of the vibration parameter and the preset value, and can also avoid the unnecessary swing of the shock absorbing elastic member while suppressing the vibration, thereby improving the stability of the boom in a stationary state. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Various objects, features and advantages of the present disclosure will become more apparent by considering the following detailed description of preferred embodiments of the present disclosure in conjunction with the accompanying drawings. The accompanying drawings are merely exemplary illustrations of the present disclosure and are not necessarily drawn to scale. In the accompanying drawings, the same reference numerals always refer to the same or similar parts. Among them:

[0025] Figure 1 is a schematic structural diagram of a fire truck according to an exemplary embodiment;

[0026] Figure 2 It is a structural diagram of part of the structure of a fire truck;

[0027] Figure 3 yes Figure 2 An enlarged schematic diagram of part A in FIG.

[0028] Figure 4 is a system block diagram of a control method of a shock absorbing device according to an exemplary embodiment;

[0029] Figure 5 Schematic diagram of the vibration state when the boom vibrates;

[0030] Figure 6 It is a schematic diagram for verifying the vibration state of the boom of the present disclosure and the existing solution.

[0031] The following are the descriptions of the reference numerals:

[0032] 100. Vehicle body;

[0033] 210. Turntable;

[0034] 220. Boom;

[0035] 230. Telescopic cylinder;

[0036] 231. Cylinder;

[0037] 232. Cylinder rod;

[0038] 240. Ladder working platform;

[0039] 310. Damping hydraulic cylinder;

[0040] 311. First cylinder;

[0041] 312. Second cylinder;

[0042] 313. Shock-absorbing elastic parts;

[0043] 320. Collection unit;

[0044] 330. Valve group;

[0045] 331. Hydraulic circuit;

[0046] 340. Control unit. DETAILED DESCRIPTION

[0047] Typical embodiments that embody the features and advantages of the present disclosure will be described in detail in the following description. It should be understood that the present disclosure can have various changes in different embodiments without departing from the scope of the present disclosure, and the descriptions and drawings therein are essentially for illustrative purposes rather than for limiting the present disclosure.

[0048] In the following description of different exemplary embodiments of the present disclosure, reference is made to the accompanying drawings, which form a part of the present disclosure and in which different exemplary structures, systems and steps that can implement multiple aspects of the present disclosure are shown by way of example. It should be understood that other specific schemes of components, structures, exemplary devices, systems and steps can be used, and structural and functional modifications can be made without departing from the scope of the present disclosure. Moreover, although the terms "above", "between", "within", etc. may be used in this specification to describe different exemplary features and elements of the present disclosure, these terms are used herein only for convenience, such as according to the direction of the examples described in the accompanying drawings. Nothing in this specification should be construed as requiring a specific three-dimensional orientation of the structure to fall within the scope of the present disclosure.

[0049] See also Figure 1, which representatively shows the structural schematic diagram of the fire truck proposed in the present disclosure. In this exemplary embodiment, the fire truck proposed in the present disclosure is described by taking a ladder fire truck with a height of more than 50 meters as an example. It is easy for those skilled in the art to understand that in order to apply the relevant design of the present disclosure to other types of fire trucks (such as aerial platform fire trucks, etc.), various modifications, additions, substitutions, deletions or other changes are made to the specific embodiments described below, and these changes are still within the scope of the principles of the shock absorbing device and fire truck proposed in the present disclosure.

[0050] Related References Figure 2 and Figure 3 , Figure 2 A schematic diagram of a partial structure of a fire truck that can embody the principles of the present disclosure is representatively shown, wherein a combined structure of a turntable 210, an arm 220, and a telescopic cylinder 230 is specifically shown; Figure 3 A representative example is shown in Figure 2 The enlarged schematic diagram of the A part in FIG. The following will be combined with the above drawings to describe in detail the structure, connection mode and functional relationship of the main components of the shock absorbing device proposed in the present disclosure.

[0051] like Figures 1 to 3As shown, in one embodiment of the present disclosure, a fire truck includes a turntable 210, an arm 220 and a telescopic cylinder 230. The turntable 210 is arranged on the body 100 of the fire truck. One end of the arm 220 is rotatably connected (for example, but not limited to, hinged) to the turntable 210. The telescopic cylinder 230 includes a cylinder barrel 231 and a cylinder rod 232, and the cylinder barrel 231 is rotatably connected (for example, but not limited to, hinged) to the turntable 210. The shock absorbing device includes a damping hydraulic cylinder 310, a collection unit 320, a valve group 330 and a control unit 340. The damping hydraulic cylinder 310 includes a first cylinder body 311 and a second cylinder body 312 that are telescopically matched, and a shock absorbing elastic member 313 is connected between the first cylinder body 311 and the second cylinder body 312, and the shock absorbing elastic member 313 can be, for example, a spring, and the first cylinder body 311 is connected to the arm 220. The damping hydraulic cylinder 310 has a damping hole inside, and the damping hole of the damping hydraulic cylinder 310 is in a normally open state. One end of the cylinder rod 232 extending out of the cylinder barrel 231 is rotatably connected (for example, but not limited to hinged) to the second cylinder body 312. The acquisition unit 320 can measure the vibration parameters of the boom 220, and the magnitude of the measured value of the vibration parameter represents the magnitude of the vibration of the boom 220. The valve group 330 is connected to the first cylinder body 311 and the second cylinder body 312 through the hydraulic circuit 331. The valve group 330 can control the on-off of the pressure liquid flowing through the damping hole, that is, when the valve group 330 is opened, the pressure liquid flows through the damping hole. At this time, the damping hydraulic cylinder 310 can provide hydraulic damping force between the boom 220 and the telescopic cylinder 230. When the valve group 330 is closed, there is no pressure liquid flowing in the damping hole. The control valve group 330 can be, for example, an automatic valve group of the type of solenoid valve, electric valve, etc. The control unit 340 is coupled to the acquisition unit 320 and the valve group 330 respectively. Accordingly, the control unit 340 is configured to: receive the measured value and compare it with the preset value, and when the measured value exceeds the preset value, control the valve group 330 to open and continue for the preset intervention time to suppress the vibration of the boom 220. Through the above design, the present disclosure can realize the design of controllable hydraulic pressure of the damping hydraulic cylinder 310, thereby suppressing the vibration of the boom 220 caused by the external force, and improving the stability of the boom 220 during operation. At the same time, the present disclosure controls the valve group 330 based on the comparison between the measured value of the vibration parameter and the preset value, and can also avoid the unnecessary swing of the shock-absorbing elastic member 313 while suppressing the vibration, thereby improving the stability of the boom 220 in a stationary state.

[0052] Specifically, the present disclosure adopts a design of adding a set of shock-absorbing elastic members 313 to the damping hydraulic cylinder 310 to realize a hydraulic shock absorber. When there is a sudden external force (the reasons include personnel going up and down the ladder work platform 240, the recoil of the water cannon when spraying water, sudden strong winds, etc.) causing the ladder frame to shake, the shock-absorbing elastic member 313 and the damping hole will work together to prevent the ladder frame from shaking. However, due to the existence of the shock-absorbing elastic member 313 and the damping hole is in a normally open state, the whole vehicle cannot control the rebound amplitude of the shock-absorbing elastic member 313 when the ladder frame shakes due to external force, which will cause unnecessary swinging and cannot be stopped immediately. At this time, although it has a certain shock-absorbing effect, it cannot control the unnecessary swinging of the shock-absorbing elastic member 313. In order to control the shock-absorbing effect, the present disclosure uses a valve group 330 to control the damping hydraulic cylinder 310, which not only achieves shock absorption but also controls the unnecessary swing times and amplitude of the boom 220.

[0053] like Figure 2 As shown, in one embodiment of the present disclosure, a ladder work platform 240 is provided at one end of the boom 220 away from the turntable 210. On this basis, the collection unit 320 can be provided on the ladder work platform 240. Through the above-mentioned structural design, the present disclosure sets the collection unit 320 on the ladder work platform 240, that is, at the far end of the boom 220, thereby making the measurement of the vibration of the boom 220 more sensitive and easy to arrange. In some embodiments, the collection unit 320 can also be set at other positions, for example, the boom 220 is connected to a straight arm of the ladder work platform 240, and is not limited to this embodiment.

[0054] In one embodiment of the present disclosure, the acquisition unit 320 may include a three-axis vibration sensor. Through the above design, the present disclosure can collect vibration speed, vibration amplitude, vibration frequency, etc. in three directions through the three-axis vibration sensor, and generate a vibration model through these data, so as to facilitate the control unit 340 to evaluate the impact of vibration on the arm 220, and use the damping hydraulic cylinder 310 to reduce the vibration generated by the external force through the control valve group 330 for vibration exceeding the preset value, so as to achieve stable control of the ladder frame of the ladder fire truck. It should be noted that, combined with the vibration characteristics of the fire truck in the usual use scenario, the present disclosure can only use the collected vibration speed, vibration amplitude, vibration frequency and other data in the height direction (such as the Z axis) to generate a vibration model, and use the vibration data in the longitudinal direction (such as the X axis) and the transverse direction (such as the Y axis) as reference data without generating a vibration model. Alternatively, the fire truck can also use other types of vibration sensors to at least meet the function of collecting vibration data in one direction (such as the Z axis).

[0055] In one embodiment of the present disclosure, the control unit 340 may include a PLC. Further, the PLC may be disposed in a control center of the turntable 210 .

[0056] It should be noted that the shock absorbing devices shown in the drawings and described in this specification are only a few examples of the many types of shock absorbing devices that can adopt the principles of the present disclosure. It should be clearly understood that the principles of the present disclosure are by no means limited to any details or components of the shock absorbing devices shown in the drawings or described in this specification.

[0057] Based on the above detailed description of several exemplary embodiments of the shock absorbing device proposed in the present disclosure, an exemplary embodiment of the fire truck proposed in the present disclosure will be described below.

[0058] like Figure 1 and Figure 2 As shown, in one embodiment of the present disclosure, the fire truck proposed in the present disclosure includes a vehicle body 100, a turntable 210, an arm 220, a telescopic cylinder 230, and a shock absorbing device proposed in the present disclosure and described in detail in the above embodiment. The turntable 210 is arranged on the vehicle body 100. One end of the arm 220 is rotatably connected to the turntable 210. The telescopic cylinder 230 includes a cylinder barrel 231 and a cylinder rod 232, and the cylinder barrel 231 is rotatably connected to the turntable 210. The first cylinder body 311 of the damping hydraulic cylinder 310 is connected to the arm 220, and one end of the cylinder rod 232 extending out of the cylinder barrel 231 is rotatably connected to the second cylinder body 312.

[0059] In one embodiment of the present disclosure, the telescopic cylinder 230 may be a luffing cylinder.

[0060] It should be noted here that the fire trucks shown in the drawings and described in this specification are only a few examples of many types of fire trucks that can adopt the principles of the present disclosure. It should be clearly understood that the principles of the present disclosure are by no means limited to any details or any components of the fire trucks shown in the drawings or described in this specification.

[0061] Based on the above detailed description of several exemplary embodiments of the shock absorbing device proposed in the present disclosure, several exemplary embodiments of the control method of the shock absorbing device proposed in the present disclosure will be described below.

[0062] See also Figures 4 to 6 , Figure 4 A system block diagram of a control method for a shock absorbing device that can embody the principles of the present disclosure is representatively shown in FIG. Figure 5 2 is a schematic diagram of a vibration state of the arm 220 when it vibrates; Figure 6 The schematic diagram of verifying the vibration state of the arm 220 of the present disclosure and the prior art is representatively shown in FIG. The principle, sequence and interrelationship of each main step of the control method of the shock absorbing device proposed in the present disclosure will be described in detail below in conjunction with the above-mentioned drawings.

[0063] like Figure 4As shown, in one embodiment of the present disclosure, the control method of the shock absorbing device proposed in the present disclosure is used to control the shock absorbing device proposed in the present disclosure and described in detail in the above embodiments. The control method includes:

[0064] Step S1: measuring vibration parameters of the arm support 220 when the arm support 220 vibrates;

[0065] Step S2: comparing the measured value of the vibration parameter with the preset value;

[0066] Step S3: When the measured value exceeds the preset value, the control valve group 330 is opened and continues for a preset intervention time to suppress the vibration of the arm 220.

[0067] Through the above design, the present disclosure can realize the controllable hydraulic pressure design of the damping hydraulic cylinder 310, thereby suppressing the vibration generated by the external force on the boom 220, and improving the stability of the boom 220 during operation. At the same time, the present disclosure controls the valve group 330 according to the comparison between the measured value of the vibration parameter and the preset value, and can also avoid the unnecessary swing of the shock-absorbing elastic member 313 while suppressing the vibration, thereby improving the stability of the boom 220 in a stationary state.

[0068] In one embodiment of the present disclosure, the vibration parameter may include at least one of the vibration speed and the vibration amplitude. For example, the acquisition unit 320 may measure the vibration speed and the vibration amplitude of the arm 220 respectively, and when the measured value of the vibration speed is greater than the preset value of the vibration speed (regardless of the vibration amplitude), the control valve group 330 is opened, for example, based on the comparison of the vibration speed, the staged acquisition and judgment method in the following embodiment is further adopted. Alternatively, when the measured value of the vibration amplitude is greater than the preset value of the vibration amplitude (regardless of the vibration speed), the control valve group 330 is opened, for example, based on the comparison of the vibration amplitude, the staged acquisition and judgment method in the following embodiment is further adopted. For another example, when the acquisition unit 320 can measure the vibration speed and the vibration amplitude of the arm 220 respectively, the control valve group 330 can be opened when the measured values ​​of both are greater than the corresponding preset values. For another example, the acquisition unit 320 may also only measure one of the vibration speed and the vibration amplitude of the arm 220, and use it as a parameter for judgment.

[0069] like Figure 5 As shown, in one embodiment of the present disclosure, the above-mentioned step S2 of "comparing the measured value of the vibration parameter with the preset value" may specifically include:

[0070] Step S21: when the acquisition unit 320 detects that the arm 220 vibrates for the first half cycle, compare the measured value of the first half cycle with the first preset value;

[0071] Step S22: when the measured value of the first first half cycle exceeds the first preset value, the measured value of the arm 220 vibrating the first second half cycle is compared with the second preset value, and the second preset value is smaller than the first preset value;

[0072] Step S23: When the measured value of the first second half cycle exceeds the second preset value, the control valve group 330 is opened and continues for a preset intervention time.

[0073] In one embodiment of the present disclosure, the second preset value may be 50% to 90% of the first preset value, such as 50%, 55%, 60%, 80%, 90%, etc. Further, the second preset value may be 70% of the first preset value.

[0074] like Figure 5 As shown, in one embodiment of the present disclosure, the above-mentioned step S3 of "controlling the valve group 330 to open and continue for a preset intervention time" may specifically include:

[0075] Step S31: measuring the vibration frequency of the arm support 220 during the first second half of the vibration cycle, and calculating the vibration period according to the vibration frequency;

[0076] Step S32: when the boom 220 vibrates into the second first half cycle, the control valve group 330 is opened for a first intervention time, which is less than 1 / 2 of the vibration cycle;

[0077] Step S33: a vibration reduction intervention is completed, and the current vibration parameters continue to be measured.

[0078] In one embodiment of the present disclosure, the first intervention time may be 1 / 8 of the vibration period.

[0079] like Figure 5 As shown, in one embodiment of the present disclosure, the above-mentioned step S3 of "controlling the valve group 330 to open and continue for a preset intervention time" may also include:

[0080] After the valve group 330 is opened for the first intervention time, and when the boom 220 vibrates into the second second half cycle, the control valve group 330 is opened for the second intervention time, which is greater than the first intervention time and less than 1 / 2 of the vibration cycle.

[0081] In one embodiment of the present disclosure, the second intervention time may be 1 / 4 of the vibration period.

[0082] It should be noted that Figure 5 In the control method shown, the above-mentioned steps S21, S22, S23, S31, S32 and S33 are simultaneously adopted, that is, the judgment step of whether to open the valve group 330 and the intervention step of opening the valve group 330 are performed. Figure 5The illustrated embodiments all adopt a staged judgment and intervention design. It should be understood that, in some embodiments, when the judgment step of whether to open the valve group 330 adopts a staged design (i.e., step S2 includes step S21, step S22, and step S23), the intervention step of opening the valve group 330 may also be a single stage, for example, the valve group 330 is controlled to be opened only when the boom 220 vibrates into the second front half cycle, as a shock-absorbing intervention. Alternatively, when the intervention step of opening the valve group 330 adopts a staged design (i.e., step S3 includes step S31, step S32, and step S33), the judgment step of whether to open the valve group 330 may also be a single stage, for example, when the measured value of the first front half cycle is greater than the first preset value, the valve group 330 is controlled to be opened, and the measured value of the first rear half cycle is no longer detected and compared as the basis for judging whether to open the valve group 330.

[0083] Specifically, see Figure 5 , Figure 5 The horizontal axis in represents time, and the vertical axis represents the amplitude of vibration. The acquisition unit 320 monitors the vibration of the arm 220 in real time. When vibration occurs due to external force, the acquisition unit 320 collects the vibration speed, vibration amplitude, vibration frequency, and performs vibration analysis. Furthermore, when the acquisition unit 320 is a three-axis vibration sensor, when vibration occurs due to external force, the three-axis vibration sensor can collect the vibration speed, vibration amplitude, and vibration frequency in three directions. Accordingly, the specific control process is as follows:

[0084] When at t 0 When the first half cycle of vibration (i.e., segment AB) is detected at time t 1 Always record the measured values ​​of vibration speed and vibration amplitude at this time, and compare them with the preset values ​​of the system. If they exceed the preset values, it is necessary to monitor the first and second half of the vibration cycle;

[0085] In t 1 Monitor the first half of the vibration cycle (i.e., BC segment) and at t 2 The measured values ​​of vibration speed and vibration amplitude at this time are recorded at all times. If the measured value of this segment exceeds 70% of the measured value of segment AB (i.e., the second preset value of the first second half cycle is 70% of the first preset value of the first first half cycle), it is determined that vibration occurs and vibration reduction intervention is required, and the vibration frequency is measured to calculate the vibration period.

[0086] When the vibration enters the second first half cycle, at t 2 At this moment, the control unit 340 outputs a control instruction to control the valve group 330 to open and continue for a first intervention time, which is 1 / 8 of the vibration period;

[0087] In t 3At this moment, the control unit 340 outputs a control instruction again, and the control valve group 330 is opened again and lasts for a second intervention time, which is 1 / 4 of the vibration cycle;

[0088] At this point, a damping cycle is completed, and the second half cycle (for example, the rising segment of the second half cycle, i.e., segment EF) is monitored at the same time. If the vibration amplitude still exceeds 70% of the preset value, the next damping cycle is entered, otherwise the damping is completed.

[0089] In conjunction with the above, please refer to Figure 6 , Figure 6 The red curve in FIG. 1 represents a schematic diagram of the vibration state of the solution of canceling the control of the valve group 330 (i.e., the hydraulic damping shock absorber is uncontrollable) disclosed in the present invention. Figure 6 The blue curve in the figure represents the schematic diagram of the vibration state of the control of the valve group 330 of the present disclosure. The specific verification method is: extend the ladder frame horizontally and apply an external force downward, which can be a person pressing down on the outside of the ladder work platform 240, or a machine pressing. Accordingly, the arm 220 moves downward suddenly, and then the above-mentioned external force is removed, for example, the pressing person releases the ladder work platform 240, or the machine releases the ladder work platform 240. The ladder frame rebounds and moves upward, so that a vibration amplitude is generated, so that a shock absorption test can be performed. The above method is used to perform two tests respectively under the conditions of canceling the control of the valve group 330 (i.e., closing the ladder frame shock absorption function) and opening the valve group 330 control (i.e., starting the ladder frame shock absorption function), and the vibration curves are drawn for comparison. It can be seen that the present disclosure uses a hydraulic damping shock absorber design based on the control of the valve group 330 to significantly improve the suppression effect on the vibration generated by the external force, and can realize the shock absorption function of the arm 220 when it is in a stationary state.

[0090] It should be noted that the control methods of the shock absorbing device shown in the drawings and described in this specification are only a few examples of many control methods that can adopt the principles of the present disclosure. It should be clearly understood that the principles of the present disclosure are by no means limited to any details or any steps of the control methods of the shock absorbing device shown in the drawings or described in this specification.

[0091] In summary, the shock absorbing device proposed in the present invention includes a damping hydraulic cylinder 310, a collection unit 320, a valve group 330 and a control unit 340; the damping hydraulic cylinder 310 includes a first cylinder body 311 and a second cylinder body 312 that are telescopically matched, the first cylinder body 311 is connected to the boom 220, and the damping hydraulic cylinder 310 has a damping hole inside, and the damping hole is in a normally open state; the cylinder rod 232 of the telescopic cylinder 230 is rotatably connected to the second cylinder body 312; the collection unit 320 can measure the vibration parameters of the boom 220; the valve group 330 is connected to the first and second cylinder bodies 312 through a hydraulic circuit 331, which can control the on and off of the pressure liquid; the control unit 340 is coupled to the collection unit 320 and the valve group 330 respectively, and the shock absorbing device controls the valve group 330 to open through the control unit 340 to suppress the vibration of the boom 220. Through the above design, the present disclosure can realize the controllable hydraulic pressure design of the damping hydraulic cylinder 310, thereby suppressing the vibration generated by the external force on the boom 220, and improving the stability of the boom 220 during operation. At the same time, the present disclosure controls the valve group 330 according to the comparison between the measured value of the vibration parameter and the preset value, and can also avoid the unnecessary swing of the shock-absorbing elastic member 313 while suppressing the vibration, thereby improving the stability of the boom 220 in a stationary state.

[0092] The exemplary embodiments of the shock absorbing device and control method thereof and the fire truck proposed by the present disclosure are described and / or illustrated in detail above. However, the embodiments of the present disclosure are not limited to the specific embodiments described here. On the contrary, the components and / or steps of each embodiment can be used independently and separately from other components and / or steps described here. Each component and / or each step of an embodiment can also be used in combination with other components and / or steps of other embodiments. When introducing the elements / components / etc. described and / or illustrated here, the terms "one", "one" and "above" are used to indicate the presence of one or more elements / components / etc. The terms "comprising", "including" and "having" are used to indicate the meaning of open inclusion and mean that in addition to the listed elements / components / etc., there may be other elements / components / etc. In addition, the terms "first" and "second" in the claims and the specification are used only as marks and are not numerical restrictions on their objects.

[0093] Although the shock absorbing device and control method thereof, and the fire truck proposed in the present disclosure have been described according to different specific embodiments, those skilled in the art will recognize that the implementation of the present disclosure can be modified within the spirit and scope of the claims.

Claims

1. A shock absorbing device, characterized in that: Used to be arranged on a fire truck; the fire truck comprises a turntable (210), an arm (220) and a telescopic cylinder (230); one end of the arm (220) is rotatably connected to the turntable (210); the telescopic cylinder (230) comprises a cylinder barrel (231) and a cylinder rod (232); the cylinder barrel (231) is rotatably connected to the turntable (210); The damping device comprises a damping hydraulic cylinder (310), a collection unit (320), a valve group (330) and a control unit (340); the damping hydraulic cylinder (310) comprises a first cylinder body (311) and a second cylinder body (312) that are telescopically matched, a damping elastic member (313) is connected between the first cylinder body (311) and the second cylinder body (312), the first cylinder body (311) is connected to the arm (220), a damping hole is provided inside the damping hydraulic cylinder (310), and the damping hole is in a normally open state; the cylinder rod (232) extends out of the cylinder barrel (231 ) is rotatably connected to the second cylinder (312); the collection unit (320) can measure the vibration parameters of the boom (220); the valve group (330) is connected to the first cylinder (311) and the second cylinder (312) through a hydraulic circuit (331), and can control the on-off of the pressure liquid flowing through the damping hole; the control unit (340) is respectively coupled to the collection unit (320) and the valve group (330), and the shock absorbing device controls the valve group (330) to open through the control unit (340) to suppress the vibration of the boom (220).

2. The shock absorbing device according to claim 1, characterized in that: A ladder working platform (240) is provided at one end of the arm (220) away from the turntable (210), and the collection unit (320) is provided on the ladder working platform (240).

3. The shock absorbing device according to claim 1, characterized in that: The acquisition unit (320) comprises a three-axis vibration sensor; and / or The control unit (340) includes a PLC.

4. A fire truck, characterized in that: The invention comprises the shock absorbing device according to any one of claims 1 to 3.

5. A control method for a shock absorbing device, characterized in that: Used to control the shock absorbing device according to any one of claims 1 to 3; the control method comprises: Measuring vibration parameters of the arm support (220); comparing the measured values ​​of the vibration parameters with the preset values; When the measured value exceeds a preset value, the control valve group (330) is opened and continues for a preset intervention time to suppress the vibration of the arm (220).

6. The control method of the shock absorbing device according to claim 5, characterized in that: The vibration parameter includes at least one of a vibration speed and a vibration amplitude.

7. The control method of the shock absorbing device according to claim 5, characterized in that: The step of comparing the measured value of the vibration parameter with the preset value comprises: When the acquisition unit (320) detects that the arm support (220) vibrates for the first half cycle, a measurement value of the first half cycle is compared with a first preset value; When the measured value of the first first half cycle exceeds the first preset value, the measured value of the arm (220) when vibrating the first second half cycle is compared with the second preset value, and the second preset value is smaller than the first preset value; When the measured value of the first second half cycle exceeds the second preset value, the control valve group (330) is opened and continues for a preset intervention time.

8. The control method of the shock absorbing device according to claim 7, characterized in that: The second preset value is 50% to 90% of the first preset value.

9. The control method of the shock absorbing device according to claim 7, characterized in that: The step of controlling the valve group (330) to open and continue for a preset intervention time comprises: Measuring the vibration frequency of the arm support (220) during the first second half of the vibration cycle, and calculating the vibration period according to the vibration frequency; When the boom (220) vibrates into the second first half cycle, the control valve group (330) is opened for a first intervention time, and the first intervention time is less than 1 / 2 of the vibration cycle; A vibration reduction intervention is completed and the current vibration parameters continue to be measured.

10. The control method of the shock absorbing device according to claim 9, characterized in that: The first intervention time is 1 / 8 of the vibration period.

11. The control method of the shock absorbing device according to claim 9, characterized in that: The step of controlling the valve group (330) to open and continue for a preset intervention time also includes: After the valve group (330) is opened for a first intervention time, and when the boom (220) vibrates into the second second half cycle, the control valve group (330) is opened for a second intervention time, wherein the second intervention time is greater than the first intervention time and less than 1 / 2 of the vibration cycle.

12. The control method of the shock absorbing device according to claim 11, characterized in that: The second intervention time is 1 / 4 of the vibration period.

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