Puncture system of boom fire truck and control method

Abstract

The invention discloses an arm support type fire truck puncture system and a control method. The control method comprises the steps that a first puncture energy storage pressure sensor detects the energy storage state of a first energy storage device; a second puncture energy storage pressure sensor detects the energy storage state of a second energy storage device; the first energy storage device and the second energy storage device supply energy to the puncture needle mechanism; the first puncture rigid pressure sensor detects the rigid state of a rodless cavity in the puncture oil cylinder; a second puncture rigid pressure sensor detects the rigid state of a rod cavity in the puncture oil cylinder; the controller controls the puncture control valve set to act to switch the puncture mode of the puncture needle mechanism according to detection information of the first puncture energy storage pressure sensor, the second puncture energy storage pressure sensor, the first puncture rigid pressure sensor and the second puncture rigid pressure sensor. The puncture mode can be automatically and rapidly switched so as to be suitable for complex and changeable fire-fighting scenes.

Description

Technical Field

[0001] The invention belongs to the technical field of hydraulic puncture, and in particular relates to a puncture system and a control method for an arm-type fire truck. Background Art

[0002] The use of the puncture arm of the airport fire truck can increase the rescue speed to the greatest extent, improve the efficiency of airport rescue, thereby maximizing the timeliness and safety of rescue and ensuring the safety of personnel's lives. The existing arm-type puncture system mainly has two modes: ejection kinetic energy puncture and rigid kinetic energy puncture. Ejection kinetic energy puncture mode: relies on the medium kinetic energy to be transmitted to the puncture needle, so that the puncture needle has an initial impulse, quickly acts on the surface skin of the cabin, and realizes the function of penetrating the cabin. The medium that provides kinetic energy can be hydraulic oil or pressurized gas. Rigid kinetic energy puncture mode: relies on the movement of the vehicle's own structural parts to achieve the puncture operation. The puncture needle is a rigid body and does not produce relative movement with the vehicle arm. The movement of the arm or the vehicle is used to achieve puncture.

[0003] The two major modes of existing technologies, ejection kinetic energy puncture and rigid kinetic energy puncture, have poor compatibility and cannot achieve automatic and rapid switching of puncture modes, resulting in inapplicability to complex and changeable firefighting scenarios. Summary of the invention

[0004] The object of the present invention is to provide a puncture system and control method for an arm-type fire truck, which can automatically and quickly switch the puncture mode to adapt to complex and changeable firefighting scenes.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is: In a first aspect, the present invention provides a puncture system for a boom-type fire truck, comprising a puncture needle mechanism, a puncture energy storage mechanism and a puncture control valve group; the puncture energy storage mechanism is connected to the puncture needle mechanism oil circuit through the puncture control valve group; The puncture energy storage mechanism comprises a first puncture energy storage pressure sensor, a second puncture energy storage pressure sensor, a first energy accumulator and a second energy accumulator; the first puncture energy storage pressure sensor detects the energy storage state of the first energy accumulator; the second puncture energy storage pressure sensor detects the energy storage state of the second energy accumulator; the first energy accumulator and the second energy accumulator are used to supply energy to the puncture needle mechanism; The puncture needle mechanism is provided with a first puncture rigidity pressure sensor, a second puncture rigidity pressure sensor and a puncture oil cylinder; the first puncture rigidity pressure sensor detects the rigidity state of the rodless cavity in the puncture oil cylinder; the second puncture rigidity pressure sensor detects the rigidity state of the rod cavity in the puncture oil cylinder; The first puncture energy storage pressure sensor, the second puncture energy storage pressure sensor, the first puncture rigidity pressure sensor and the second puncture rigidity pressure sensor are electrically connected to the controller input end; the puncture control valve group is electrically connected to the controller output end; The controller controls the puncture control valve group to switch the puncture mode of the puncture needle mechanism according to the detection information of the first puncture energy storage pressure sensor, the second puncture energy storage pressure sensor, the first puncture rigidity pressure sensor and the second puncture rigidity pressure sensor.

[0006] Furthermore, it also includes a control room, wherein a control handle is arranged in the control room, wherein the control handle is electrically connected to the controller, and the controller is electrically connected to the drive valve group; the hydraulic drive device is connected to the drive cylinder oil circuit through the drive valve group; The controller controls the action of the driving cylinder by driving the valve group according to the input signal of the control handle, and the driving cylinder drives the puncture arm frame of the fire truck to move, and the puncture arm frame drives the puncture needle mechanism to perform puncture.

[0007] Furthermore, it also includes a human-computer interaction interface; the human-computer interaction interface is electrically connected to the controller; the controller generates warning information based on the detection information and sends it to the human-computer interaction interface; the human-computer interaction interface is used to obtain detection information query instructions or display warning information.

[0008] Furthermore, the controller determines whether the energy storage state of the first energy storage device is abnormal based on the detection information of the first puncture energy storage pressure sensor; determines whether the energy storage state of the second energy storage device is abnormal based on the detection information of the second puncture energy storage pressure sensor; determines whether the rigidity state of the rodless cavity in the puncture cylinder is abnormal based on the detection information of the first puncture rigidity pressure sensor; determines whether the rigidity state of the rod cavity in the puncture cylinder is abnormal based on the detection information of the second puncture rigidity pressure sensor; and generates an early warning prompt message when at least one item of retrieval information is abnormal, and sends it to the human-computer interaction interface.

[0009] Furthermore, the puncture mode of the puncture needle mechanism includes an ejection kinetic energy puncture mode and a rigid kinetic energy puncture mode; When the energy storage states of the first energy accumulator and the second energy accumulator are normal, and the rigidity states of the rodless chamber and the rod chamber in the puncture oil cylinder are normal, the controller controls the puncture control valve group to operate, and the puncture needle mechanism switches to the ejection kinetic energy puncture mode; When the rigidity state of the rodless cavity in the puncture oil cylinder is normal and the energy storage state of the first energy accumulator and / or the second energy accumulator is abnormal, or the rigidity state of the rodless cavity in the puncture oil cylinder is normal and the rigidity state of the rod cavity in the puncture oil cylinder is abnormal, the controller controls the puncture control valve group to operate, and the puncture needle mechanism switches to the rigid kinetic energy puncture mode; When the rigidity state of the rodless cavity in the puncture cylinder is abnormal, the controller generates a prompt prohibiting the puncture operation.

[0010] Furthermore, the hydraulic pump is connected to the oil circuit of the puncture needle mechanism through the puncture control valve group; the controller controls the action of the puncture control valve group, the first accumulator or the hydraulic pump drives the hydraulic oil into the rodless chamber in the puncture cylinder, the hydraulic oil in the rod chamber in the puncture cylinder flows back to the oil tank, and the hydraulic oil pushes the piston rod of the puncture cylinder to extend; after the puncture cylinder is in a fully extended state, the controller controls the action of the puncture control valve group again, closes the oil ports of the rodless chamber and the rod chamber in the puncture cylinder, and the puncture needle mechanism switches to the rigid kinetic energy puncture mode.

[0011] In a second aspect, the present invention provides a control method for a puncture system of a boom-type fire truck, comprising: Acquire detection information of the first puncture energy storage pressure sensor, the second puncture energy storage pressure sensor, the first puncture rigidity pressure sensor, and the second puncture rigidity pressure sensor; According to the detection information of the first puncture energy storage pressure sensor, the second puncture energy storage pressure sensor, the first puncture rigidity pressure sensor and the second puncture rigidity pressure sensor, the puncture control valve group is controlled to switch the puncture mode of the puncture needle mechanism.

[0012] Further, according to the detection information of the first puncture energy storage pressure sensor, the second puncture energy storage pressure sensor, the first puncture rigidity pressure sensor and the second puncture rigidity pressure sensor, the puncture control valve group is controlled to switch the puncture mode of the puncture needle mechanism, specifically including: When the energy storage states of the first energy accumulator and the second energy accumulator are normal, and the rigidity states of the rodless chamber and the rod chamber in the puncture oil cylinder are normal, the puncture control valve group is controlled to operate, and the puncture needle mechanism is switched to the ejection kinetic energy puncture mode; When the rigidity state of the rodless cavity in the puncture oil cylinder is normal and the energy storage state of the first energy accumulator and / or the second energy accumulator is abnormal, or the rigidity state of the rodless cavity in the puncture oil cylinder is normal and the rigidity state of the rod cavity in the puncture oil cylinder is abnormal, the puncture control valve group is controlled to operate, and the puncture needle mechanism is switched to the rigid kinetic energy puncture mode; When the rigidity state of the rodless cavity in the puncture cylinder is abnormal, a prompt prohibiting the puncture operation is generated.

[0013] Furthermore, the hydraulic pump is connected to the oil circuit of the puncture needle mechanism through the puncture control valve group; the puncture control valve group is controlled to operate, and the puncture needle mechanism is switched to the rigid kinetic energy puncture mode; The puncture control valve group is controlled to act, the first accumulator or the hydraulic pump drives the hydraulic oil into the rodless chamber in the puncture cylinder, the hydraulic oil in the rod chamber in the puncture cylinder flows back to the oil tank, and the hydraulic oil pushes the piston rod of the puncture cylinder to extend; when the puncture cylinder is in a fully extended state, the puncture control valve group is controlled to act again, the oil ports of the rodless chamber and the rod chamber in the puncture cylinder are closed, and the puncture needle mechanism is switched to the rigid kinetic energy puncture mode.

[0014] Furthermore, the method further includes: receiving an input instruction for switching the rigid kinetic energy puncture mode, Determine whether the rigidity state of the rodless cavity in the puncture cylinder is abnormal. If the rigidity state of the rodless cavity in the puncture cylinder is normal, control the puncture needle mechanism to switch to the rigid kinetic energy puncture mode; if the rigidity state of the rodless cavity in the puncture cylinder is abnormal, generate an early warning prompt message.

[0015] Furthermore, it also includes: judging whether the energy storage state of the first energy accumulator is abnormal according to the detection information of the first puncture energy storage pressure sensor; judging whether the energy storage state of the second energy accumulator is abnormal according to the detection information of the second puncture energy storage pressure sensor; judging whether the rigidity state of the rodless cavity in the puncture cylinder is abnormal according to the detection information of the first puncture rigidity pressure sensor; judging whether the rigidity state of the rod cavity in the puncture cylinder is abnormal according to the detection information of the second puncture rigidity pressure sensor; and generating an early warning prompt message when at least one item of retrieval information is abnormal.

[0016] Furthermore, the arm-type fire truck puncture system also includes a control handle, the control handle is electrically connected to the controller, the controller is electrically connected to the drive valve group; the hydraulic drive device is connected to the drive cylinder oil circuit through the drive valve group; According to the input signal of the control handle, the driving valve group is used to control the action of the driving cylinder, and the driving cylinder drives the puncture arm of the fire truck to move, and the puncture arm drives the puncture needle mechanism to perform rigid puncture; The first puncture rigid pressure sensor detects the pressure value of the rodless chamber in the puncture cylinder. When the pressure value of the rodless chamber is greater than the first threshold, an early warning prompt is generated; when the pressure value of the rodless chamber is greater than the second threshold, the puncture arm is locked by driving the valve group to prohibit rigid puncture from being performed again.

[0017] Compared with the prior art, the present invention has the following beneficial effects: The controller described in the present invention controls the puncture control valve group to switch the puncture mode of the puncture needle mechanism according to the detection information of the first puncture energy storage pressure sensor, the second puncture energy storage pressure sensor, the first puncture rigid pressure sensor and the second puncture rigid pressure sensor; and can automatically and quickly switch the puncture mode to adapt to complex and changeable fire fighting scenes. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a structural diagram of the arm-type fire truck puncture system provided in this embodiment 1; Figure 2 is a structural diagram of the control room in the boom-type fire truck provided in this embodiment 1; Figure 3 is a flow chart of a control method for a piercing system of a boom-type fire truck provided in Embodiment 2; Figure 4 This is a flow chart of switching the puncture mode of the puncture needle mechanism provided in the second embodiment.

[0019] In the figure, 1 is the puncture needle structure, 2 is the puncture energy storage mechanism, 3 is the puncture control valve group, 4 is the first puncture energy storage pressure sensor, 5 is the second puncture energy storage pressure sensor, 6 is the first puncture rigid pressure sensor, 7 is the second puncture rigid pressure sensor, 8 is the controller, 9 is the human-computer interaction interface, and 10 is the control handle. DETAILED DESCRIPTION

[0020] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0021] It should be noted that in the description of the present invention, the directions or positional relationships indicated by the terms "front", "rear", "left", "right", "up", "down", "inside", "outside", etc. are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention rather than requiring the present invention to be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. The terms "front", "rear", "left", "right", "up", and "down" used in the description of the present invention refer to the directions in the accompanying drawings, and the terms "inside" and "outside" refer to the directions toward or away from the geometric center of a specific component, respectively.

[0022] Example 1

[0023] like Figure 1 and Figure 2 As shown, a puncture system for an arm-type fire truck includes a puncture needle mechanism 1, a puncture energy storage mechanism 2 and a puncture control valve group 3; the puncture energy storage mechanism 2 and the hydraulic pump are connected to the puncture needle mechanism 1 through the oil circuit of the puncture control valve group 3; the hydraulic pump is used to drive the puncture needle mechanism 1 to move.

[0024] The puncture energy storage mechanism 2 includes a first puncture energy storage pressure sensor 4, a second puncture energy storage pressure sensor 5, a first energy accumulator and a second energy accumulator; the first puncture energy storage pressure sensor 4 detects the energy storage state of the first energy accumulator; the second puncture energy storage pressure sensor 5 detects the energy storage state of the second energy accumulator; The puncture needle mechanism is provided with a first puncture rigidity pressure sensor 6, a second puncture rigidity pressure sensor 7 and a puncture cylinder; the puncture cylinder is used to drive the puncture needle to perform elastic kinetic energy puncture; the first puncture rigidity pressure sensor 6 detects the rigidity state of the rodless cavity in the puncture cylinder; the second puncture rigidity pressure sensor 7 detects the rigidity state of the rod cavity in the puncture cylinder.

[0025] The rodless chamber of the puncture cylinder is connected to the first accumulator through the reversing valve oil circuit; the first accumulator is used to store the pressure potential energy of the hydraulic oil in the rodless chamber, or release the pressure potential energy to drive the hydraulic oil into the rodless chamber; the rod chamber of the puncture cylinder is connected to the second accumulator through the reversing valve oil circuit; the second accumulator is used to store the pressure potential energy of the hydraulic oil in the rod chamber, or release the pressure potential energy to drive the hydraulic oil into the rod chamber.

[0026] The first puncture energy storage pressure sensor 4, the second puncture energy storage pressure sensor 5, the first puncture rigidity pressure sensor 6 and the second puncture rigidity pressure sensor 7 are electrically connected to the controller input end; the puncture control valve group 3 is electrically connected to the controller output end; The puncture system is started and self-checked. The controller 8 determines whether the energy storage state of the first energy accumulator is abnormal based on the detection information of the first puncture energy storage pressure sensor 4; and determines whether the energy storage state of the second energy accumulator is abnormal based on the detection information of the second puncture energy storage pressure sensor 5. In this embodiment, the self-check process of the first energy accumulator and the second energy accumulator is specifically as follows: the hydraulic pressure value in the first energy accumulator and the second energy accumulator is controlled to be increased to a preset working energy storage threshold, and the pressure values ​​collected by the first puncture energy storage pressure sensor 4 and the second puncture energy storage pressure sensor 5 are compared with the preset working energy storage threshold; when the pressure value collected by the first puncture energy storage pressure sensor 4 reaches the working energy storage threshold, it is determined that the energy storage state of the first energy accumulator is normal, otherwise, it is determined that the energy storage state of the first energy accumulator is abnormal; when the pressure value collected by the second puncture energy storage pressure sensor 5 reaches the working energy storage threshold, it is determined that the energy storage state of the second energy accumulator is normal, otherwise, it is determined that the energy storage state of the second energy accumulator is abnormal.

[0027] According to the detection information of the first puncture rigidity pressure sensor 6, it is judged whether the rigidity state of the rodless cavity in the puncture cylinder is abnormal; according to the detection information of the second puncture rigidity pressure sensor 7, it is judged whether the rigidity state of the rod cavity in the puncture cylinder is abnormal; in this embodiment, the rigidity state self-inspection process of the rodless cavity and the rod cavity in the puncture cylinder is specifically as follows: the rodless cavity and the rod cavity in the puncture cylinder are controlled to be raised to the working energy storage threshold and then maintained for a set time, when the pressure value collected by the first puncture rigidity pressure sensor 6 remains unchanged, it is judged that the rigidity state of the rodless cavity in the puncture cylinder is normal, and when the pressure value collected by the first puncture rigidity pressure sensor 6 slowly decreases, it is judged that the rigidity state of the rodless cavity in the puncture cylinder is abnormal; when the pressure value collected by the second puncture rigidity pressure sensor 7 remains unchanged, it is judged that the rigidity state of the rod cavity in the puncture cylinder is normal, and when the pressure value collected by the second puncture rigidity pressure sensor 7 slowly decreases, it is judged that the rigidity state of the rod cavity in the puncture cylinder is abnormal.

[0028] When at least one of the retrieved information is abnormal, an early warning message is generated. By monitoring the pressure state of the energy storage device in real time, potential faults can be discovered in advance, avoiding rescue failures caused by equipment failures in emergency situations.

[0029] The controller 8 controls the puncture control valve group to switch the puncture mode of the puncture needle mechanism according to the detection information of the first puncture energy storage pressure sensor 4, the second puncture energy storage pressure sensor 5, the first puncture rigid pressure sensor 6 and the second puncture rigid pressure sensor 7, specifically including: The puncture modes of the puncture needle mechanism include an ejection kinetic energy puncture mode and a rigid kinetic energy puncture mode; When the energy storage states of the first energy accumulator and the second energy accumulator are normal, and the rigidity states of the rodless chamber and the rod chamber in the puncture cylinder are normal, the controller 8 controls the puncture control valve group 3 to operate, and the puncture needle mechanism 1 switches to the ejection kinetic energy puncture mode; the puncture needle mechanism performing ejection kinetic energy puncture belongs to the prior art and will not be described in detail here.

[0030] When the rigidity state of the rodless cavity in the puncture oil cylinder is normal and the energy storage state of the first energy accumulator and / or the second energy accumulator is abnormal, or the rigidity state of the rodless cavity in the puncture oil cylinder is normal and the rigidity state of the rod cavity in the puncture oil cylinder is abnormal, the controller 8 controls the puncture control valve group 3 to operate, and the puncture needle mechanism 1 switches to the rigid kinetic energy puncture mode; When the rigidity state of the rodless cavity in the puncture cylinder is abnormal, the controller generates a prompt prohibiting the puncture operation.

[0031] The puncture needle mechanism is switched to the rigid kinetic energy puncture mode, and the specific process includes: When the energy storage state of the first accumulator is normal and the energy storage value is greater than the set energy storage threshold, the controller 8 controls the puncture control valve group 3 to operate, and the first accumulator drives the hydraulic oil to enter the rodless chamber in the puncture cylinder; when the energy storage state of the first accumulator is abnormal or the energy storage value is less than the set energy storage threshold, the controller 8 controls the puncture control valve group 3 to operate, the hydraulic pump drives the hydraulic oil to enter the rodless chamber in the puncture cylinder, and the hydraulic oil in the rod chamber in the puncture cylinder flows back to the oil tank, and the hydraulic oil pushes the piston rod of the puncture cylinder to extend; after the puncture cylinder is in a fully extended state, the controller 8 controls the puncture control valve group to operate again, closes the oil ports of the rodless chamber and the rod chamber in the puncture cylinder, and the puncture needle mechanism switches to the rigid kinetic energy puncture mode.

[0032] The puncture system of the arm-type fire truck also includes a control handle 10 and a human-computer interaction interface 9. The controller 8, the control handle 10 and the human-computer interaction interface 9 are arranged in the control room of the arm-type fire truck. The control handle 10 is electrically connected to the controller 8, and the controller 8 is electrically connected to the drive valve group; the hydraulic drive device is connected to the drive cylinder oil circuit through the drive valve group; the puncture needle mechanism 1 is arranged on the puncture arm of the fire truck; the controller controls the action of the drive cylinder through the drive valve group according to the input signal of the control handle, and the drive cylinder drives the puncture arm of the fire truck to move, and the puncture arm drives the puncture needle mechanism to perform ejection kinetic energy puncture or rigid kinetic energy puncture.

[0033] The human-machine interaction interface 9 is electrically connected to the controller 8 ; the controller 8 generates warning information according to the detection information and sends it to the human-machine interaction interface 9 ; the human-machine interaction interface 9 is used to obtain detection information query instructions or display warning information.

[0034] This embodiment has a high degree of intelligence and can automatically switch the kinetic energy mode of the puncture system without changing the operator's puncture operation habits, so as to be suitable for complex and changeable firefighting scenes.

[0035] Example 2

[0036] like Figure 3 to Figure 4 As shown, a control method for a puncture system of a boom type fire truck is applied to the puncture system for a boom type fire truck described in Example 1, and the control method includes: Acquire detection information of the first puncture energy storage pressure sensor 4, the second puncture energy storage pressure sensor 5, the first puncture rigidity pressure sensor 6 and the second puncture rigidity pressure sensor 7; Based on the detection information of the first puncture energy storage pressure sensor 4, determine whether the energy storage state of the first energy accumulator is abnormal; based on the detection information of the second puncture energy storage pressure sensor 5, determine whether the energy storage state of the second energy accumulator is abnormal; based on the detection information of the first puncture rigidity pressure sensor 6, determine whether the rigidity state of the rodless cavity in the puncture cylinder is abnormal; based on the detection information of the second puncture rigidity pressure sensor 7, determine whether the rigidity state of the rod cavity in the puncture cylinder is abnormal; when at least one item of retrieval information is abnormal, generate an early warning prompt information.

[0037] According to the detection information of the first puncture energy storage pressure sensor 4, the second puncture energy storage pressure sensor 5, the first puncture rigid pressure sensor 6 and the second puncture rigid pressure sensor 7, the puncture control valve group is controlled to switch the puncture mode of the puncture needle mechanism, specifically including: When the energy storage states of the first energy accumulator and the second energy accumulator are normal, and the rigidity states of the rodless chamber and the rod chamber in the puncture oil cylinder are normal, the puncture control valve group 3 is controlled to act, and the puncture needle mechanism 1 is switched to the ejection kinetic energy puncture mode; When the rigidity state of the rodless cavity in the puncture oil cylinder is normal and the energy storage state of the first energy accumulator and / or the second energy accumulator is abnormal, or the rigidity state of the rodless cavity in the puncture oil cylinder is normal and the rigidity state of the rod cavity in the puncture oil cylinder is abnormal, the puncture needle mechanism is switched to the rigid kinetic energy puncture mode, and the specific process includes: If the energy storage state of the first accumulator is normal and the energy storage value is greater than the set energy storage threshold, the controller 8 controls the puncture control valve group 3 to operate, and the first accumulator drives the hydraulic oil to enter the rodless cavity in the puncture oil cylinder; if the energy storage state of the first accumulator is abnormal or the energy storage value of the first accumulator is less than the set energy storage threshold, the controller 8 controls the puncture control valve group 3 to operate, and the hydraulic pump drives the hydraulic oil to enter the rodless cavity in the puncture oil cylinder; The hydraulic oil in the rod chamber in the puncture oil cylinder flows back to the oil tank, and the hydraulic oil pushes the piston rod of the puncture oil cylinder to extend; when the puncture oil cylinder is in a fully extended state, the puncture control valve group is controlled to act again, and the oil ports of the rodless chamber and the rod chamber in the puncture oil cylinder are closed, and the puncture needle mechanism 1 is switched to the rigid kinetic energy puncture mode; Alternatively, upon receiving an input command for switching the rigid kinetic energy puncture mode, it is determined whether the rigidity state of the rodless cavity in the puncture oil cylinder is abnormal; if the rigidity state of the rodless cavity in the puncture oil cylinder is normal, the puncture needle mechanism is controlled to switch to the rigid kinetic energy puncture mode; if the rigidity state of the rodless cavity in the puncture oil cylinder is abnormal, an early warning prompt message is generated; When the rigidity state of the rodless cavity in the puncture cylinder is abnormal, a prompt prohibiting the puncture operation is generated.

[0038] According to the input signal of the control handle 10, the driving valve group is used to control the action of the driving cylinder, and the driving cylinder drives the puncture arm of the fire truck to move, and the puncture arm drives the puncture needle mechanism to perform rigid puncture; The first puncture rigid pressure sensor 6 detects the pressure value of the rodless chamber in the puncture cylinder. When the pressure value of the rodless chamber is greater than the first threshold, an early warning prompt is generated; when the pressure value of the rodless chamber is greater than the second threshold, the puncture arm is locked by driving the valve group to prohibit rigid puncture from being performed again.

[0039] During the execution of the control method of this embodiment, detection information such as the first puncture energy storage pressure sensor 4, the second puncture energy storage pressure sensor 5, the first puncture rigid pressure sensor 6 and the second puncture rigid pressure sensor 7 as well as puncture execution information such as input instructions for switching puncture modes, input signals of the control handle 10 and throttle signals are recorded and stored.

[0040] By real-time monitoring of the pressure in the puncture cylinder, the system of this embodiment can prevent equipment damage or safety accidents caused by excessive pressure; by setting a dual threshold, the system can respond accordingly at different pressure levels, ensuring the stability and reliability of the puncture operation and reducing adverse consequences caused by operator negligence or misjudgment.

[0041] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A piercing system for a boom-type fire truck, characterized in that: It includes a puncture needle mechanism, a puncture energy storage mechanism and a puncture control valve group; the puncture energy storage mechanism is connected to the puncture needle mechanism oil circuit through the puncture control valve group; The puncture energy storage mechanism comprises a first puncture energy storage pressure sensor, a second puncture energy storage pressure sensor, a first energy accumulator and a second energy accumulator; the first puncture energy storage pressure sensor detects the energy storage state of the first energy accumulator; the second puncture energy storage pressure sensor detects the energy storage state of the second energy accumulator; the first energy accumulator and the second energy accumulator are used to supply energy to the puncture needle mechanism; The puncture needle mechanism is provided with a first puncture rigidity pressure sensor, a second puncture rigidity pressure sensor and a puncture oil cylinder; the first puncture rigidity pressure sensor detects the rigidity state of the rodless cavity in the puncture oil cylinder; the second puncture rigidity pressure sensor detects the rigidity state of the rod cavity in the puncture oil cylinder; The first puncture energy storage pressure sensor, the second puncture energy storage pressure sensor, the first puncture rigidity pressure sensor and the second puncture rigidity pressure sensor are electrically connected to the controller input end; the puncture control valve group is electrically connected to the controller output end; The controller controls the puncture control valve group to switch the puncture mode of the puncture needle mechanism according to the detection information of the first puncture energy storage pressure sensor, the second puncture energy storage pressure sensor, the first puncture rigidity pressure sensor and the second puncture rigidity pressure sensor.

2. The arm-type fire truck puncture system according to claim 1, characterized in that: It also includes a control handle, the control handle is electrically connected to the controller, the controller is electrically connected to the drive valve group; the hydraulic drive device is connected to the drive cylinder oil circuit through the drive valve group; The controller controls the action of the driving cylinder by driving the valve group according to the input signal of the control handle, and the driving cylinder drives the puncture arm frame of the fire truck to move, and the puncture arm frame drives the puncture needle mechanism to perform puncture.

3. The arm-type fire truck puncture system according to claim 1, characterized in that: It also includes a human-computer interaction interface; the human-computer interaction interface is electrically connected to the controller; the controller generates warning information based on the detection information and sends it to the human-computer interaction interface; the human-computer interaction interface is used to obtain detection information query instructions or display warning information.

4. The arm-type fire truck puncture system according to claim 3 is characterized in that: The controller determines whether the energy storage state of the first energy accumulator is abnormal based on the detection information of the first puncture energy storage pressure sensor; determines whether the energy storage state of the second energy accumulator is abnormal based on the detection information of the second puncture energy storage pressure sensor; determines whether the rigidity state of the rodless cavity in the puncture cylinder is abnormal based on the detection information of the first puncture rigidity pressure sensor; determines whether the rigidity state of the rod cavity in the puncture cylinder is abnormal based on the detection information of the second puncture rigidity pressure sensor; generates an early warning prompt message when at least one item of retrieval information is abnormal, and sends it to the human-computer interaction interface.

5. The arm-type fire truck puncture system according to claim 4, characterized in that: The puncture modes of the puncture needle mechanism include an ejection kinetic energy puncture mode and a rigid kinetic energy puncture mode; When the energy storage states of the first energy accumulator and the second energy accumulator are normal, and the rigidity states of the rodless chamber and the rod chamber in the puncture oil cylinder are normal, the controller controls the puncture control valve group to operate, and the puncture needle mechanism switches to the ejection kinetic energy puncture mode; When the rigidity state of the rodless cavity in the puncture oil cylinder is normal and the energy storage state of the first energy accumulator and / or the second energy accumulator is abnormal, or the rigidity state of the rodless cavity in the puncture oil cylinder is normal and the rigidity state of the rod cavity in the puncture oil cylinder is abnormal, the controller controls the puncture control valve group to operate, and the puncture needle mechanism switches to the rigid kinetic energy puncture mode; When the rigidity state of the rodless cavity in the puncture cylinder is abnormal, the controller generates a prompt prohibiting the puncture operation.

6. The arm-type fire truck puncture system according to claim 5, characterized in that: The hydraulic pump is connected to the oil circuit of the puncture needle mechanism through the puncture control valve group; the controller controls the action of the puncture control valve group, the first accumulator or the hydraulic pump drives the hydraulic oil into the rodless chamber in the puncture cylinder, the hydraulic oil in the rod chamber in the puncture cylinder flows back to the oil tank, and the hydraulic oil pushes the piston rod of the puncture cylinder to extend; after the puncture cylinder is in a fully extended state, the controller controls the action of the puncture control valve group again, closes the oil ports of the rodless chamber and the rod chamber in the puncture cylinder, and the puncture needle mechanism switches to the rigid kinetic energy puncture mode.

7. The control method of the piercing system of a boom type fire truck according to any one of claims 1 to 6, characterized in that: include: Acquire detection information of the first puncture energy storage pressure sensor, the second puncture energy storage pressure sensor, the first puncture rigidity pressure sensor, and the second puncture rigidity pressure sensor; According to the detection information of the first puncture energy storage pressure sensor, the second puncture energy storage pressure sensor, the first puncture rigidity pressure sensor and the second puncture rigidity pressure sensor, the puncture control valve group is controlled to switch the puncture mode of the puncture needle mechanism.

8. The control method according to claim 7, characterized in that: According to the detection information of the first puncture energy storage pressure sensor, the second puncture energy storage pressure sensor, the first puncture rigidity pressure sensor and the second puncture rigidity pressure sensor, the puncture control valve group is controlled to switch the puncture mode of the puncture needle mechanism, specifically including: The puncture modes of the puncture needle mechanism include an ejection kinetic energy puncture mode and a rigid kinetic energy puncture mode; When the energy storage states of the first energy accumulator and the second energy accumulator are normal, and the rigidity states of the rodless chamber and the rod chamber in the puncture oil cylinder are normal, the puncture control valve group is controlled to operate, and the puncture needle mechanism is switched to the ejection kinetic energy puncture mode; When the rigidity state of the rodless cavity in the puncture oil cylinder is normal and the energy storage state of the first energy accumulator and / or the second energy accumulator is abnormal, or the rigidity state of the rodless cavity in the puncture oil cylinder is normal and the rigidity state of the rod cavity in the puncture oil cylinder is abnormal, the puncture control valve group is controlled to operate, and the puncture needle mechanism is switched to the rigid kinetic energy puncture mode; When the rigidity state of the rodless cavity in the puncture cylinder is abnormal, the controller generates a prompt prohibiting the puncture operation.

9. The control method according to claim 8, characterized in that: The puncture control valve group is controlled to move, and the puncture needle mechanism is switched to the rigid kinetic energy puncture mode. The specific process includes: The hydraulic pump is connected to the oil circuit of the puncture needle mechanism through the puncture control valve group; The puncture control valve group is controlled to act, the first accumulator or the hydraulic pump drives the hydraulic oil into the rodless chamber in the puncture cylinder, the hydraulic oil in the rod chamber in the puncture cylinder flows back to the oil tank, and the hydraulic oil pushes the piston rod of the puncture cylinder to extend; when the puncture cylinder is in a fully extended state, the puncture control valve group is controlled to act again, the oil ports of the rodless chamber and the rod chamber in the puncture cylinder are closed, and the puncture needle mechanism is switched to the rigid kinetic energy puncture mode.

10. The control method according to claim 9, characterized in that: Also includes: Receive the input command to switch to rigid kinetic energy puncture mode, Determine whether the rigidity state of the rodless cavity in the puncture cylinder is abnormal. If the rigidity state of the rodless cavity in the puncture cylinder is normal, control the puncture needle mechanism to switch to the rigid kinetic energy puncture mode; if the rigidity state of the rodless cavity in the puncture cylinder is abnormal, generate an early warning prompt message.

11. The control method according to claim 7, characterized in that: Based on the detection information of the first puncture energy storage pressure sensor, determine whether the energy storage state of the first energy accumulator is abnormal; based on the detection information of the second puncture energy storage pressure sensor, determine whether the energy storage state of the second energy accumulator is abnormal; based on the detection information of the first puncture rigidity pressure sensor, determine whether the rigidity state of the rodless cavity in the puncture cylinder is abnormal; based on the detection information of the second puncture rigidity pressure sensor, determine whether the rigidity state of the rod cavity in the puncture cylinder is abnormal; when at least one item of retrieval information is abnormal, generate an early warning prompt information.

12. The control method according to claim 9, characterized in that: The arm-type fire truck piercing system also includes a control handle, the control handle is electrically connected to the controller, and the controller is electrically connected to the drive valve group; the hydraulic drive device is connected to the drive cylinder oil circuit through the drive valve group; According to the input signal of the control handle, the driving valve group is used to control the action of the driving cylinder, and the driving cylinder drives the puncture arm of the fire truck to move, and the puncture arm drives the puncture needle mechanism to perform rigid puncture; The first puncture rigid pressure sensor detects the pressure value of the rodless chamber in the puncture oil cylinder, and generates an early warning prompt when the pressure value of the rodless chamber is greater than a first threshold value; When the pressure value of the rodless chamber is greater than the second threshold value, the puncture arm frame is locked by driving the valve group to prohibit rigid puncture from being performed again.

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