Fire water monitor rotary table based on servo control

Abstract

The invention discloses a fire water monitor turntable based on servo control, which is mainly used for helicopter fire-fighting equipment. A PLC (Programmable Logic Controller) of the servo control system is respectively connected with a solid-state relay, a water cannon tube pitching motion servo driver, a water cannon tube horizontal motion servo driver and a limit switch; the water cannon pipe pitching motion servo driver is connected with an electric push rod of the water cannon pipe pitching automatic reset device, and the electric push rod controls a rotating shaft to rotate through a connecting rod and drives the water cannon pipe on the rotating shaft to do pitching motion and automatically reset; the water cannon pipe horizontal movement servo driver is connected with a servo motor of the water cannon pipe horizontal automatic reset device, and the servo motor drives the water cannon installation base to do horizontal movement and automatic reset through a slewing bearing. According to the water monitor, pitching swinging and horizontal rotating movement of the water monitor pipe can be effectively achieved, the rotating angle of the water monitor pipe can be mechanically limited through the limiting block, and the water monitor pipe can be automatically pulled back to the initial position through resilience force of the pneumatic spring under the condition of accidental power failure.

Description

Technical Field

[0001] The present invention relates to the technical field of firefighting equipment, and in particular to a firefighting water cannon turntable based on servo control. Background Art

[0002] Helicopter firefighting water cannon plays an increasingly important role in urban high-rise building firefighting. It is not restricted by ground roads and traffic conditions and has the characteristics of strong mobility and flexible use. With the development of the economy, urban high-rise buildings are everywhere, and the probability of fires in medium and high-rise buildings is increasing. Fire has gradually become one of the main disasters threatening public safety and social development. Helicopters equipped with firefighting water cannons can quickly reach the fire scene to perform firefighting tasks, minimize the losses caused by fires, greatly improve the combat environment of firefighters, reduce the threat of fires to personal safety, and play a huge role in major fires. In order to meet the needs of modern urban firefighting, an external water cannon turntable system is installed on helicopters to extinguish fires at fixed points. Follow-up firefighting water cannons are the future development direction. However, when the water cannon turntable system suddenly loses power and does not automatically reset to the initial position, if the water cannon tube is not in the initial position, it will affect the flight of the aircraft. Therefore, it is increasingly important to study a firefighting water cannon turntable for automatic pitch and horizontal reset of the water cannon tube. Summary of the invention

[0003] In order to overcome the deficiencies of the prior art, the object of the present invention is to provide a fire water cannon turntable based on servo control to achieve the pitch and horizontal swing of the water cannon tube on the fire water cannon turntable, which can automatically reset after power failure.

[0004] To achieve the above-mentioned purpose of the invention, the fire-fighting water cannon turntable of the present invention includes a water cannon tube pitch automatic reset device, a water cannon tube horizontal automatic reset device and a servo control system; the PLC programmable controller of the servo control system is respectively connected to the solid-state relay, the water cannon tube pitch motion servo driver, the water cannon tube horizontal motion servo driver, and the limit switch; the water cannon tube pitch motion servo driver is connected to the electric push rod of the water cannon tube pitch automatic reset device, and the electric push rod controls the rotation of the rotating shaft through the connecting rod, driving the water cannon tube on the rotating shaft to do pitch motion and automatic reset; the water cannon tube horizontal motion servo driver is connected to the servo motor of the water cannon tube horizontal automatic reset device, and the servo motor drives the water cannon mounting seat to do horizontal motion and automatic reset through the slewing support bearing.

[0005] Furthermore, the external DC24V power supply of the servo control system is connected to the system through a solid-state relay, and the miniature circuit breaker for protecting and closing the main circuit is connected to the main circuit terminal. The power input ends of the PLC programmable controller, the water cannon tube pitch motion servo driver, and the water cannon tube horizontal motion servo driver are all connected to the main circuit terminal, and the DC24V power supply is introduced through the main circuit terminal. The Ethernet interface of the PLC programmable controller is respectively connected to and communicates with the host computer, the water cannon tube pitch motion servo driver, and the water cannon tube horizontal motion servo driver, and the output circuits of the water cannon tube pitch motion servo driver and the water cannon tube horizontal motion servo driver are respectively connected to the electric push rod and the servo motor.

[0006] Furthermore, the electric push rod of the automatic resetting device for the pitch of the water cannon tube is fixed on the base, the electric push rod is hinged to the electric push rod bracket installed on the base through a pin shaft, the extended end of the electric push rod is connected to one end of the connecting rod through a pin shaft, and the other end of the connecting rod is installed on the pitch base support of the welding frame through a key connection; the welding frame is located on the rotating shaft, and there are two pitch base supports at the bottom of the welding frame, which are symmetrically installed on both sides of the bottom plate of the pitch mechanism, and the pitch base support is provided with a key hole for connecting with the rotating shaft, the welding frame is positioned and installed on the rotating shaft through a key connection, the rotating shaft is installed on the base and can rotate freely, and the two ends of the rotating shaft are axially positioned by a retaining spring; the two ends of the pneumatic springs symmetrically arranged on the outside of the welding frame are respectively hinged to the pneumatic spring bracket 1 and the pneumatic spring bracket 2 through a pin shaft, and can rotate around the pin shaft, the pneumatic spring bracket 1 is installed on the welding frame, and the pneumatic spring bracket 2 is installed on the base; the water cannon tube clamp assembly is installed on the welding frame, and the water cannon tube is locked and clamped by the water cannon tube clamp assembly.

[0007] Furthermore, the servo motor and the reducer are connected and fixed on the motor support by bolt nine, the reducer output shaft connected to the reducer is connected to the synchronous pulley, the synchronous belt connects the synchronous pulley and the slewing bearing, and the rotating shaft passes through the water cannon mounting seat, the slewing bearing, and the base bottom plate from top to bottom in sequence; the inner ring of the slewing bearing is fixedly installed with the water cannon mounting seat, and the outer ring is connected with the base bottom plate of the base by bolt one; the rotating shaft is fixed with the inner ring of the slewing bearing and the water cannon mounting seat by bolt two, the gear sheet is fixed to the lower end of the rotating shaft by bolt eight, the chain is wrapped around the gear sheet, the gear sheet is connected to one end of the chain by a pin, the other end of the chain is connected to the pneumatic spring bracket four by a pin through a tensioner, the pneumatic spring bracket four is connected to one end of the pneumatic spring by a pin, and the end of the pneumatic spring is connected to the pneumatic spring bracket one by a pin.

[0008] Furthermore, the pneumatic spring bracket one is fixed to the base bracket one by bolt three, one end of the cylinder body of the three pneumatic springs is hinged to the pneumatic spring bracket one by a pin, the middle of the cylinder body is connected to the pneumatic spring bracket two and the pneumatic spring bracket three, the pneumatic spring bracket four hinges the ends of the three pneumatic springs together by a pin, and the pneumatic spring guide block is connected to the base bottom plate by bolt seven.

[0009] Furthermore, an upper limit block 1 and an upper limit block 2 are installed on the bottom of the water monitor mounting seat through bolt 5, and a lower limit block 1 and a lower limit block 2 are installed on the bottom plate of the base through bolt 6.

[0010] Compared with the prior art, the present invention can effectively realize the pitch, swing and horizontal rotation movements of the water cannon tube. The pitch and horizontal rotation angles of the water cannon tube can be adjusted by controlling the number of rotations of the electric push rod and the servo motor. The rotation angle of the water cannon tube can be mechanically limited by the upper and lower limit blocks. In the event of an accidental power outage, the water cannon tube can be automatically pulled back to its initial position by the rebound force of the pneumatic spring. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a structural diagram of the present invention.

[0012] Figure 2 for Figure 1 A simplified structural diagram of the automatic elevation and resetting device for the water monitor tube.

[0013] Figure 3 for Figure 2 Schematic diagram of the welding frame.

[0014] Figure 4 for Figure 2 A partial schematic diagram of the three-dimensional structure viewed from above after removing the second top plate of the pitch mechanism.

[0015] Figure 5 for Figure 1 A schematic diagram of the structure of the automatic horizontal resetting device for the water monitor tube.

[0016] Figure 6 for Figure 5 A schematic diagram of the structure viewed from above.

[0017] Figure 7 for Figure 5 A simplified diagram of the structure when viewed from above, with the base hidden.

[0018] Figure 8 for Figure 5 Axonometric view of .

[0019] Fig. 9 It is an electrical connection block diagram of the present invention.

[0020] Fig.10It is a circuit connection diagram of the present invention.

[0021] In the figure: 1. Automatic resetting device for pitching of water cannon tube; 1-1. Top plate 2 of pitching mechanism; 1-2. Pneumatic spring bracket 1; 1-3. Pneumatic spring; 1-4. Water cannon tube; 1-5. Connecting rod; 1-6. Electric push rod; 1-7. Copper sleeve 1; 1-8. Electric push rod bracket; 1-9. Pneumatic spring bracket 2; 1-10. Pin; 1-11. Base; 1-12. Rotating shaft; 1-13. Rotating shaft bracket; 1-14. Copper sleeve 2; 1-15. Welding frame; 1-16. Side plate 1 of pitching mechanism ; 1-17, pitch base; 2, water cannon tube horizontal automatic reset device; 2-1, servo motor; 2-2, reducer; 2-3, bolt nine; 2-4, motor support; 2-5, bolt ten; 2-6, synchronous pulley; 2-7, bolt three; 2-8, pneumatic spring bracket one; 2-9, pneumatic spring bracket two; 2-10, pneumatic spring bracket three; 2-11, pneumatic spring; 2-12, bolt eight; 2-13, gear plate; 2-14, rotating shaft; 2-15, chain; 2-16, bolt one ; 2-17, pneumatic spring bracket four; 2-18, tensioner; 2-19, bolt six; 2-20, lower limit block one; 2-21, upper limit block two; 2-22, bolt five; 2-23, bolt two; 2-24, slewing bearing; 2-25, base bottom plate; 2-26, base bracket one; 2-27, pin; 2-28, bolt four; 2-29, aluminum alloy bracket; 2-30, connecting bracket one; 2-31, connecting bracket two; 2-32, connecting bracket three; 2-33, bolt Seven; 2-34, pneumatic spring guide block; 2-35, base bracket three; 2-36, upper limit block one; 2-37, base bracket two; 2-38, lower limit block two; 2-39, water cannon mounting seat; 2-40, synchronous belt; 2-41, reducer output shaft; 3, PLC programmable controller; 4, solid-state relay; 5, water cannon tube pitch motion servo driver; 6, host computer; 7, water cannon tube horizontal motion servo driver; 8, limit switch; 9, miniature circuit breaker; 10, main circuit terminal. DETAILED DESCRIPTION

[0022] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 , Fig.10As shown, the fire-fighting water cannon turntable of the present invention mainly includes a water cannon tube pitch automatic reset device 1, a water cannon tube horizontal automatic reset device 2 and a servo control system; the PLC programmable controller 3 of the servo control system is respectively connected with a solid-state relay 4, a water cannon tube pitch motion servo driver 5, a water cannon tube horizontal motion servo driver 7, and a limit switch 8; the water cannon tube pitch motion servo driver 5 is connected with an electric push rod 1-6 of the water cannon tube pitch automatic reset device 1, and the electric push rod 1-6 controls the rotation of the rotating shaft 1-12 through the connecting rod 1-5, thereby driving the water cannon tube 1-4 on the rotating shaft 1-12 to do pitch motion and automatic reset; the water cannon tube horizontal motion servo driver 7 is connected with the servo motor 2-1 of the water cannon tube horizontal automatic reset device 2, and the servo motor 2-1 drives the water cannon mounting seat 2-39 to do horizontal motion and automatic reset through the slewing support bearing 2-24.

[0023] The external DC24V power supply of the servo control system is connected to the system through the solid-state relay 4, and the control end of the solid-state relay 4 is connected to the external start signal input, which is used to control the power on and off of the entire servo control system. Miniature circuit breaker 9 is used to protect and close the main circuit, and it is connected to the main circuit wiring terminal 10. The PLC programmable controller 3 has a real-time communication function, and can communicate with the host computer 6 through a network cable, and receive the control instructions of the host computer 6 to realize a predetermined action. The power input end of the PLC programmable controller 3, the water cannon tube pitch motion servo driver 5, and the water cannon tube horizontal motion servo driver 7 are all connected to the main circuit wiring terminal 10, and the DC24V power supply is introduced through the main circuit wiring terminal 10. The Ethernet interface of the PLC programmable controller 3 is connected and communicated with the host computer 6, the water cannon tube pitch motion servo driver 5, and the water cannon tube horizontal motion servo driver 7 respectively, and the output circuits of the water cannon tube pitch motion servo driver 5 and the water cannon tube horizontal motion servo driver 7 are connected with the electric push rod 1-6 and the servo motor 2-1 respectively, and the host computer 6 is an external control system, which is generally the main control console of the helicopter. When the device is in the initial state, the device is not powered on and the system does not work. When the control end of the solid-state relay 4 receives the external start signal, the solid-state relay 4 is powered on, the main circuit power supply is connected, the entire device is powered on and keeps working, the PLC programmable controller 3 starts to run, and receives the instruction of the host computer 6. When the host computer 6 sends an instruction to pitch and rotate the water cannon tube 1-4 to a certain angle, the PLC programmable controller 3 converts the instruction into the distance required for the electric push rod 1-6 and the servo motor 2-1 to run, and sends it to the water cannon tube pitch motion servo driver 5 and the water cannon tube horizontal motion servo driver 7 respectively, and drives the corresponding electric push rod 1-6 and servo motor 2-1 to move to the specified position respectively, and the water cannon tube pitch automatic reset device 1 and the water cannon tube horizontal automatic reset device 2 point the water cannon tube 1-4 to the specified fire extinguishing position, realizes the precise control of the horizontal rotation angle and the vertical pitch angle of the water cannon tube 1-4, and realizes the fast and accurate fire extinguishing function. Four limit switches 8 are respectively installed on the contact surfaces of upper limit block 1 2-36, upper limit block 2-21, lower limit block 1 2-20 and lower limit switch 2 2-38. The signal output end of the limit switch 8 is connected to the signal input end of the PLC programmable controller 3. When the water cannon tube 1-4 runs to the limit position, the limit switch 8 is pressed down by the limit block. After the PLC programmable controller 3 detects the action signal of the limit switch 8, it issues a stop movement instruction. The function of each limit block is to limit the maximum movement range of the water cannon tube 1-4 to ensure the safety of equipment and personnel.

[0024] The welding frame 1-15 of the automatic pitch reset device 1 of the water cannon tube is located on the rotating shaft 1-12, and is positioned and installed on the rotating shaft 1-12 through a key connection. The welding frame 1-15 is connected and fastened by welding between the pitch mechanism bottom plate 1-21, the pitch mechanism side plate 1-16, the pitch mechanism side plate 2 1-18, the pitch base support 1-17, and the pitch mechanism top plate 1-19. The pitch mechanism top plate 2 1-1 is fixed to the welding frame 1-15 by bolt connection; the pitch base support 1-17 is two, symmetrically mounted on both sides of the pitch mechanism bottom plate 1-21, and the pitch base support 1-17 is provided with a key hole for connecting with the rotating shaft 1-12. The entire pitch automatic reset mechanism is supported on the base 1-11.

[0025] The electric push rod 1-6 is fixed on the base 11, and the protruding end of the electric push rod 1-6 is connected to one end of the connecting rod 1-5 through the pin shaft 1-10, and the other end of the connecting rod 1-5 is mounted on the pitch base support 1-17 of the welding frame 1-15 through a key connection, and the connecting rod 1-5 can play a role in transmitting torque; the electric push rod 1-6 is hinged to the electric push rod bracket 1-8 installed on the base 1-11 through the pin shaft, and the electric push rod 1-6 can rotate freely around the pin shaft; a copper sleeve 1-7 is installed between the pin shaft and the mounting hole of the electric push rod bracket 8, which can play a role of self-lubrication.

[0026] The rotating shaft 1-12 is installed on the base 1-11 through the rotating shaft brackets 1-13 on both sides, and the two ends of the rotating shaft 1-12 are axially positioned by retaining springs; the rotating shaft bracket 1-13 is fixed on the base 1-11, and the rotating shaft bracket 1-13 can stabilize the rotating shaft 1-12. The axis hole of the rotating shaft bracket 1-13, the axis holes of the two side plates of the base 1-11, and the axis hole of the pitch base support 1-17 are concentric with the rotating shaft 1-12. A copper sleeve 1-14 is installed between the rotating shaft 1-12 and the axis holes of the rotating shaft bracket 1-13 and the two side plates of the base 1-11, and the rotating shaft 1-12 can rotate freely around the axis hole.

[0027] After being compressed by external force, the pneumatic spring 1-3 uses its restored stretching force to realize the automatic reset of the welding frame 1-15. The two ends of the pneumatic spring 1-3 are respectively hinged on the pneumatic spring bracket 1-2 and the pneumatic spring bracket 2 1-9 through the pin shaft, and can rotate around the pin shaft. The pneumatic spring bracket 1-2 is installed on the welding frame 1-15, and the pneumatic spring bracket 2 1-9 is installed on the base 1-11; there are two pneumatic springs 1-3, which are symmetrically arranged on the outside of the welding frame 1-15; the pneumatic spring 1-3 is perpendicular to the axis of the rotating shaft 1-12.

[0028] The water cannon tube clamp assembly 1-20 is installed on the welding frame 1-15. There are two water cannon tube clamp assemblies 1-20, which are fixed on the pitch mechanism bottom plate 1-21 of the welding frame 1-15 by bolts. The water cannon tube clamp assembly 1-20 is locked and clamped together with the water cannon tube 1-4 by bolts respectively.

[0029] Initially, the welding frame 1-15 is supported by the initial force of the pneumatic spring 1-3 and does not swing downward. When the water cannon tube pitch automatic reset device 1 is powered on, the servo control system controls the motor of the electric push rod 1-6 to rotate, and the electric push rod 1-6 itself rotates around the mounting hole of the electric push rod bracket 1-8, and the push rod is extended to push the connecting rod 1-5 to swing downward, thereby driving the rotation axis 1-12 to rotate. At the same time, the welding frame 1-15 swings downward together to adjust the angle of the water cannon tube 1-4. The pitch swing angle of the welding frame 1-15 and the water cannon tube 1-4 can be adjusted by controlling the number of rotations of the electric push rod 1-6 motor; when the welding frame 1-15 swings downward, the pneumatic spring 1-3 is compressed.

[0030] After power failure, under the reverse thrust of the pneumatic spring 1-3, the welding frame 1-15 is propped up and pushed up, driving the rotating shaft 1-12 to rotate, pushing the connecting rod 1-5 to rotate upward in the reverse direction, compressing the extended rod of the electric push rod 1-6 back, and realizing the automatic reset function of the pitch direction of the water cannon tube pitch automatic reset device 1. In the event of an accidental power failure, the present invention can use the reverse thrust of the pneumatic spring 1-3 to automatically push the water cannon tube 1-4 back to the initial position.

[0031] The servo motor 2-1 and the reducer 2-2 of the automatic horizontal reset device 2 of the water cannon tube are connected and fixed on the motor support 2-4 by bolt nine 2-3, and the motor support 2-4 is fixed on the water cannon mounting seat 2-39 by bolt ten 2-5. The reducer 2-2 is flange-connected to the reducer output shaft 2-41, and the reducer output shaft 2-41 is key-connected to the synchronous pulley 2-6. The synchronous pulley 2-6 can rotate with the rotation of the servo motor 2-1. The synchronous belt 2-40 connects the synchronous pulley 2-6 and the outer teeth of the slewing support bearing 2-24 to realize the synchronous transmission of the synchronous pulley 2-6 and the slewing support bearing 2-24. The rotating shaft 2-14 passes through the water cannon mounting seat 2-39, the slewing support bearing 2-24, and the base bottom plate 2-25 from top to bottom; the inner ring of the slewing support bearing 2-24 is fixedly installed with the water cannon mounting seat 2-39, and the outer ring is fixed by bolt one 2-16 It is connected to the base bottom plate 2-25 of the base, and the inner and outer rings of the slewing support bearing 2-24 can rotate with each other; the rotating shaft 2-14 is fixed together with the inner ring of the slewing support bearing 2-24 and the water cannon mounting seat 2-39 by bolt two 2-23, the gear sheet 2-13 is fixed to the lower end of the rotating shaft 2-14 by bolt eight 2-12, and the chain 2-15 is wound around the gear sheet 2-13, and the gear sheet 2-13 is connected to one end of the chain 2-15 by a pin, and the other end of the chain 2-15 is connected to the pneumatic spring bracket four 2-17 by a pin through a tensioner 2-18; the tensioner 2-18 can be adjusted to adjust the tightness of the chain 2-15, the pneumatic spring bracket four 2-17 is connected to one end of the pneumatic spring 2-11 by a pin 2-27, and the end of the pneumatic spring 2-11 is connected to the pneumatic spring bracket one 2-8 by a pin 2-27.

[0032] The base is composed of a base bottom plate 2-25, a base bracket one 2-26, two base bracket twos 2-37, and a base bracket three 2-35, which are fixed together by a connecting bracket one 2-30, a connecting bracket two 2-31, and a connecting bracket three 2-32 with bolts three 2-7. The aluminum alloy bracket 2-29 is fixed to the base bracket one 2-26 by bolts four 2-28. The base bottom plate 2-25 is also equipped with reinforcing ribs, which are fixed to the base bottom plate 2-25 by bolts, so as to strengthen and stabilize the base.

[0033] Pneumatic spring bracket 1 2-8 is fixed to base bracket 1 2-26 by bolt 3 2-7, one end of the cylinder body of three pneumatic springs 2-11 is hinged to pneumatic spring bracket 1 2-8 by pin 2-27, and the middle of the cylinder body is connected to pneumatic spring bracket 2-9 and pneumatic spring bracket 3 2-10 for stabilization, pneumatic spring bracket 4 2-17 hinges the ends of three pneumatic springs 2-11 together by pin 2-27, and pneumatic spring guide block 2-34 is connected to base bottom plate 2-25 by bolt 7 2-33, which is used for guiding the movement of pneumatic spring 2-11 and limiting the deviation of the movement direction of pneumatic spring 2-11.

[0034] The bottom of the water cannon mounting seat 2-39 is installed with an upper limit block 1 2-36 and an upper limit block 21 through a bolt 5 2-22, and two lower limit blocks 1 20 and a lower limit block 2 38 are installed on the base bottom plate 25 through a bolt 6 19. When the water cannon mounting seat 2-39 is in the initial position, the upper limit block 2 2-21 contacts the lower limit block 1 2-20, and when the servo motor 2-1 rotates to drive the water cannon mounting seat 2-39 to rotate to a certain angle, the upper limit block 1 2-36 contacts the lower limit block 2 2-38. In the same way, the water cannon mounting seat 2-39 can be limited in reverse.

[0035] After the water cannon tube horizontal automatic reset device 2 is powered on, the servo control system controls the rotation of the servo motor 2-1, drives the reducer 2-2 to rotate, and then drives the synchronous pulley 2-6 to rotate, and drives the inner and outer rings of the slewing support bearing 2-24 to move relative to each other through the synchronous belt 2-40. Because the outer ring of the slewing support bearing 2-24 is fixed on the base bottom plate 2-25, and the inner ring is fixed on the water cannon mounting seat 2-39 together with the rotating shaft 2-14, when the servo motor 2-1 rotates, the water cannon mounting seat 2-39 can be rotated counterclockwise and clockwise; when the rotating shaft 2-14 rotates, it drives the gear plate 2-13 to rotate together, and then drives the pneumatic spring 2-11 to be compressed through the chain 2-15.

[0036] After power failure, under the action of the rebound force of the pneumatic spring 2-11, the chain 2-15 drives the shaft 2-14 to rotate, thereby driving the water cannon mounting seat 2-39 to rotate as a whole; the upper limit block 1 2-36, the upper limit block 2-21, the lower limit block 1 2-20, and the lower limit block 2 2-38 can limit the extreme position of the water cannon mounting seat 2-39 to realize the automatic reset function of the water cannon mounting seat 2-39 in the horizontal direction.

Claims

1. A fire water monitor turntable based on servo control, characterized in that: The fire-fighting water cannon turntable comprises a water cannon tube pitch automatic reset device (1), a water cannon tube horizontal automatic reset device (2) and a servo control system; a PLC programmable controller (3) of the servo control system is respectively connected to a solid-state relay (4), a water cannon tube pitch motion servo driver (5), a water cannon tube horizontal motion servo driver (7) and a limit switch (8); the water cannon tube pitch motion servo driver (5) is connected to an electric push rod (1-6) of the water cannon tube pitch automatic reset device (1); the electric push rod (1-6) controls the rotation of a rotating shaft (1-12) through a connecting rod (1-5) to drive the water cannon tube (1-4) on the rotating shaft (1-12) to perform pitch motion and automatic reset; the water cannon tube horizontal motion servo driver (7) is connected to a servo motor (2-1) of the water cannon tube horizontal automatic reset device (2); the servo motor (2-1) drives a water cannon mounting seat (2-39) to perform horizontal motion and automatic reset through a slewing bearing (2-24).

2. A fire-fighting water monitor turntable based on servo control according to claim 1, characterized in that: The external DC24V power supply of the servo control system is connected to the system through a solid-state relay (4); a miniature circuit breaker (9) for protecting and closing the main circuit is connected to the main circuit terminal (10); the power input ends of the PLC programmable controller (3), the water cannon tube pitch motion servo driver (5), and the water cannon tube horizontal motion servo driver (7) are all connected to the main circuit terminal (10); the DC24V power supply is introduced through the main circuit terminal (10); the Ethernet interface of the PLC programmable controller (3) is respectively connected to and communicates with the host computer (6), the water cannon tube pitch motion servo driver (5), and the water cannon tube horizontal motion servo driver (7); and the output circuits of the water cannon tube pitch motion servo driver (5) and the water cannon tube horizontal motion servo driver (7) are respectively connected to the electric push rod (1-6) and the servo motor (2-1).

3. The fire-fighting water monitor turntable based on servo control according to claim 1, characterized in that: The electric push rod (1-6) of the water cannon tube pitch automatic reset device (1) is fixed on the base (1-11), the electric push rod (1-6) is hinged to the electric push rod bracket (1-8) installed on the base (11) through a pin shaft, the extended end of the electric push rod (1-6) is connected to one end of the connecting rod (1-5) through a pin shaft (1-10), and the other end of the connecting rod (1-5) is mounted on the pitch base support (1-17) of the welding frame (1-15) through a key connection; the welding frame (1-15) is located on the rotating shaft (1-12), and the pitch base support (17) at the bottom of the welding frame (1-15) is two and symmetrically mounted on both sides of the pitch mechanism bottom plate (21), and a key for connecting with the rotating shaft (12) is provided in the pitch base support (17). The welding frame (1-15) is positioned and mounted on the rotating shaft (1-12) through a key connection. The rotating shaft (1-12) is mounted on the base (1-11) and can rotate freely. The two ends of the rotating shaft (1-12) are axially positioned by a retaining spring. The two ends of the pneumatic spring (1-3) symmetrically arranged on the outside of the welding frame (15) are respectively hinged on the pneumatic spring bracket 1 (1-2) and the pneumatic spring bracket 2 (1-9) through a pin shaft and can rotate around the pin shaft. The pneumatic spring bracket 1 (1-2) is mounted on the welding frame (1-15), and the pneumatic spring bracket 2 (1-9) is mounted on the base (1-11). The water cannon tube clamp assembly (1-20) is mounted on the welding frame (1-15), and the water cannon tube (1-4) is locked and clamped by the water cannon tube clamp assembly (1-20).

4. The fire-fighting water monitor turntable based on servo control according to claim 1, characterized in that: The servo motor (2-1) and the reducer (2-2) are connected and fixed on the motor support (2-4) by bolt nine (2-3); the reducer output shaft (2-41) connected to the reducer (2-2) is connected to the synchronous pulley (2-6); the synchronous belt (2-40) connects the synchronous pulley (2-6) and the slewing bearing (2-24); the rotating shaft (2-14) passes through the water monitor mounting seat (2-39), the slewing bearing (2-24), and the base bottom plate (2-25) from top to bottom in sequence; the inner ring of the slewing bearing (2-24) is fixedly installed with the water monitor mounting seat (2-39), and the outer ring is connected to the base bottom plate (2-25) of the base by bolt one (2-16); the rotating shaft (2-14) and the slewing bearing The inner ring of the bearing (2-24) and the water monitor mounting seat (2-39) are fixed together by bolt two (2-23), the gear plate (2-13) is fixed to the lower end of the rotating shaft (2-14) by bolt eight (2-12), the chain (2-15) is wound around the gear plate (2-13), the gear plate (2-13) and one end of the chain (2-15) are connected by a pin, the other end of the chain (2-15) is connected to the pneumatic spring bracket four (2-17) by a pin through a tensioner (2-18), the pneumatic spring bracket four (2-17) and one end of the pneumatic spring (2-11) are connected by a pin (2-27), and the end of the pneumatic spring (2-11) is connected to the pneumatic spring bracket one (2-8) by a pin (2-27).

5. The fire-fighting water monitor turntable based on servo control according to claim 4 is characterized in that: The pneumatic spring support one (2-8) is fixed to the base support one (2-26) via a bolt three (2-7); one end of the cylinder body of the three pneumatic springs (2-11) is hinged to the pneumatic spring support one (2-8) via a pin (2-27); the middle of the cylinder body is connected to the pneumatic spring support two (2-9) and the pneumatic spring support three (2-10); the pneumatic spring support four (2-17) hinges the ends of the three pneumatic springs (2-11) together via a pin (2-27); and the pneumatic spring guide block (2-34) is connected to the base bottom plate (2-25) via a bolt seven (2-33).

6. A fire water monitor turntable control system based on servo control according to claim 4, characterized in that: An upper limit block 1 (2-36) and an upper limit block 2 (2-21) are installed on the bottom of the water monitor mounting seat (2-39) via a bolt 5 (2-22), and a lower limit block 1 (2-20) and a lower limit block 2 (2-38) are installed on the base bottom plate (2-25) via a bolt 6 (2-19).

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