Fire-fighting boom mechanism and control method thereof

Abstract

The invention provides a fire-fighting boom mechanism and a control method thereof, and relates to the technical field of fire-fighting trucks. According to the fire-fighting boom mechanism and the control method thereof provided by the invention, the boom structure can be accurately controlled, so that the boom structure can respond quickly, the intelligent level of a fire-fighting truck is improved, the rescue action is more scientific and normative, a more intelligent and automatic rescue means is provided for a fire-fighting department, and the fire-fighting truck is more convenient to use. The rescue preparation time is greatly shortened, misoperation can be avoided, the fire rescue efficiency and safety are improved, and it is ensured that rescue can be rapidly and effectively carried out under the emergency situation.

Description

Technical Field

[0001] The present invention relates to the technical field of fire trucks, and in particular to a fire arm mechanism and a control method thereof. Background Art

[0002] With the acceleration of urbanization and the increasing number of high-rise buildings, traditional firefighting and rescue equipment has certain limitations when responding to high-rise fires. The boom mechanism of conventional high-jet fire trucks deploys multiple sub-booms in the same direction. During deployment, each boom stage must wait for the previous stage to fully deploy before it can rotate. This wastes a significant amount of time and leads to low firefighting and rescue efficiency.

[0003] In the related art, after the boom mechanism of the high-rise jet fire truck extends from the rear of the fire truck, the user needs to first turn the direction of the fire truck and then rotate the boom mechanism as a whole before performing firefighting operations on the fire source in the specified direction, which results in too long preparation time, a lot of time is wasted, and the firefighting rescue efficiency is low. Summary of the Invention

[0004] The purpose of the present invention includes providing a fire-fighting boom mechanism and a control method thereof, wherein the hydraulic system can drive one of the boom and the rotary platform to perform an action individually or multiple actions synchronously to achieve one-button automatic deployment or one-button automatic retraction, thereby improving the efficiency and safety of firefighting rescue, and providing the fire department with a more intelligent and automated rescue means.

[0005] The embodiments of the present invention can be implemented as follows:

[0006] In a first aspect, the present invention provides a method for controlling a fire arm mechanism, comprising the following steps:

[0007] The hydraulic system obtains boom control instructions;

[0008] Determine whether the boom control command is valid;

[0009] Determine whether the boom structure meets the conditions;

[0010] If it is determined that the boom control instruction is valid and the boom structure meets the conditions, the hydraulic system drives one of the boom and the rotary platform to perform an action individually or multiple actions simultaneously.

[0011] In an optional embodiment, if it is determined that the boom control instruction is valid and the boom structure meets the conditions, the step of the hydraulic system driving at least one of the boom and the rotary platform to perform an action or multiple synchronous actions specifically includes:

[0012] If it is determined that the boom control instruction is valid and the boom structure meets the deployment conditions, the hydraulic system drives one of the boom and the rotary platform to perform an action individually or in multiple simultaneous actions;

[0013] If it is determined that the boom control instruction is valid and the boom structure meets the retraction condition, the hydraulic system drives one of the boom and the rotary platform to perform an action individually or multiple actions simultaneously.

[0014] In an optional embodiment, if it is determined that the boom control instruction is valid and the boom structure meets the deployment condition, the step of the hydraulic system driving at least one of the boom and the slewing platform to perform an action or multiple synchronous actions specifically includes:

[0015] The boom driving member drives the boom structure to unfold to a target state;

[0016] The rotary driving member drives the rotary platform to rotate to the target angle;

[0017] The above steps can be performed individually or in multiple steps simultaneously;

[0018] And / or, if it is determined that the boom control instruction is valid and the boom structure meets the retraction condition, the step of the hydraulic system driving at least one of the boom and the slewing platform to perform an action or multiple synchronous actions specifically includes:

[0019] Perform component reset;

[0020] The arm drive component drives the arm structure to reset;

[0021] The rotary driving member drives the rotary platform to reset;

[0022] The above steps can be performed individually or in multiple steps simultaneously.

[0023] In an optional embodiment, the step of determining whether the boom structure meets the conditions specifically includes:

[0024] determining, based on a state of the first proximity switch, whether the boom structure meets a deployment condition;

[0025] If the first proximity switch is in the ON state, it is determined that the boom structure meets the deployment condition;

[0026] If the first proximity switch is in the OFF state, it is determined that the boom structure does not meet the deployment condition;

[0027] and / or, the operating console sends boom control instructions to the electrical control system;

[0028] The electrical control system receives the boom control instruction and sends the boom control instruction to the hydraulic system;

[0029] The hydraulic system obtains boom control instructions;

[0030] And / or, the step of determining whether the boom control instruction is valid specifically includes:

[0031] According to the status of the foot switch, determine whether the arm control command is valid;

[0032] If the foot switch is in the ON state, it is determined that the arm control instruction is valid;

[0033] If the foot switch is in the OFF state, it is determined that the arm control instruction is invalid.

[0034] In a second aspect, the present invention provides a fire arm mechanism, which is controlled by any of the control methods described above, and includes:

[0035] A boom structure, comprising a boom and a rotary platform, wherein the rotary platform is rotatably arranged, one end of the boom is rotatably arranged on the rotary platform, and the other end of the boom is provided with an actuator;

[0036] A hydraulic system, the hydraulic system being in transmission connection with the boom structure and being used to drive the boom structure to perform an action;

[0037] When the boom structure is in a state of one-key deployment or one-key retraction, the hydraulic system drives one of the boom and the slewing platform to perform an action individually or multiple actions simultaneously.

[0038] In an optional embodiment, the arm structure includes at least two arms and a rotating platform, the rotating platform is arranged on the base and is rotatably connected to the base, the at least two arms are rotatably connected, one end of the first arm can be rotatably arranged on the rotating platform, and the last arm is provided with the execution component.

[0039] When the boom structure is in a state of one-key deployment or one-key retraction, the hydraulic system is used to drive one of the at least two booms and the rotary platform to perform an action individually or multiple actions simultaneously.

[0040] In an optional embodiment, the boom structure further includes a telescopic arm, the boom including two arms, namely a first arm and a second arm, the first end of the first arm being disposed on the rotary platform, the first end of the first arm being rotatably connected to the rotary platform, the first end of the telescopic arm being telescopically disposed within an arm tube at the second end of the first arm, the second end of the telescopic arm being rotatably connected to the first end of the second arm, and the second end of the second arm being provided with the actuator;

[0041] The hydraulic system includes a rotary drive member, an arm drive member and a telescopic drive member, wherein the rotary drive member is used to drive the rotary platform to rotate, and the arm drive member includes a first drive member and a second drive member, wherein the first drive member is used to drive the first arm to extend or retract, and the second drive member is used to drive the second arm to extend or retract;

[0042] The output end of the first driving member is transmission-connected to the first boom, and the first driving member is used to drive the first boom to expand or retract relative to the rotating platform; the telescopic driving member is arranged in the arm tube of the first boom, and the output end of the telescopic driving member is transmission-connected to the telescopic arm, and the telescopic driving member is used to drive the telescopic arm to retract along the first boom; the second driving member is arranged on the telescopic arm, and the output end of the second driving member is transmission-connected to the second boom, and the telescopic driving member is used to drive the second boom to expand or retract relative to the first boom.

[0043] In an optional embodiment, the fire arm mechanism includes an electrical control system, the electrical control system is communicatively connected to the hydraulic system, and the electrical control system includes a rotation detection member, a first detection member, and a second detection member;

[0044] The rotation detection member is arranged on the rotation platform, and the rotation detection member is used to detect the rotation angle of the rotation platform;

[0045] The first detection member is provided at the second end of the first boom, and is used to detect the deployment angle of the first boom and the telescopic length of the telescopic arm;

[0046] The second detection member is provided at the second end of the second arm support, and the second detection member is used to detect the deployment angle of the second arm support.

[0047] In an optional embodiment, the electrical control system further includes a first proximity switch, a second proximity switch, and a third proximity switch; the boom structure further includes a bracket, the bracket being used to support the boom structure, and the first proximity switch being provided on the bracket; the second proximity switch being provided at the second end of the telescopic arm, and the third proximity switch being provided at the bottom inner portion of the arm tube of the first boom;

[0048] And / or, the fire arm mechanism includes an operation console and an electrical control system, the operation console is arranged in the cab, and the electrical control system is communicatively connected with the hydraulic system and the operation console;

[0049] And / or, the anti-arm support mechanism includes a foot switch and an electrical control system; the foot switch is arranged in the cab, and the foot switch is communicatively connected with the electrical control system; the foot switch is manually pressed to change the foot switch from the OFF state to the ON state.

[0050] In a third aspect, the present invention provides a control method for a fire arm mechanism according to the aforementioned embodiment, wherein the electrical control system includes a first proximity switch;

[0051] The arm structure also includes a bracket, which is used to support the arm structure in a retracted state, and the first proximity switch is arranged on the bracket; when the first proximity switch is in the ON state, the arm structure is in a retracted state and contacts the first proximity switch on the bracket; when the first proximity switch is in the OFF state, the arm structure is in an extended state and does not contact the first proximity switch on the bracket.

[0052] The beneficial effects of a firefighting arm mechanism and a control method thereof provided by an embodiment of the present invention include:

[0053] The present invention provides a control method for a firefighting boom mechanism. By judging whether the boom control instruction is valid and whether the boom structure meets the conditions, the method determines whether the boom structure is in a state capable of executing the control instruction, thereby avoiding misoperation and thus preventing accidents. The method controls the hydraulic system to drive at least one boom and a slewing platform of the boom structure to perform an action, so that the hydraulic system can not only drive at least one boom or a slewing platform to perform an action individually, but also drive at least one boom and a slewing platform to perform a compound action synchronously. Through such an arrangement, the control method proposed by the present invention can achieve precise control of the boom structure, so that the boom structure can respond quickly, which not only improves the intelligence level of the fire truck, makes the rescue operation more scientific and standardized, provides the fire department with a more intelligent and automated rescue means, greatly shortens the rescue preparation time, but also avoids misoperation, improves the efficiency and safety of fire rescue, and ensures that rescue can be carried out quickly and effectively in emergency situations.

[0054] The present invention provides a fire-fighting boom mechanism, which, by setting up a boom structure and rotating a slewing platform, can adjust the overall angle of the boom structure, and by unfolding the boom, the boom structure can reach the working height required for firefighting and rescue; by setting up a hydraulic system, when the boom structure is in the condition of one-button expansion or one-button retraction, the hydraulic system can drive the boom and the slewing platform of the boom structure to move, and the hydraulic system can not only drive one of the booms or slewing platforms to perform a single action, but also drive multiple booms or slewing platforms to perform compound actions synchronously, and the hydraulic system can accurately control the boom structure and enable the boom structure to respond quickly, greatly shortening the rescue preparation time and improving the efficiency of the rescue operation; among them, the one-button operation design concept of one-button expansion or one-button retraction makes the operation simpler, reduces the difficulty of operator training, improves the efficiency and safety of firefighting and rescue, and also provides the fire department with a more intelligent and automated rescue means, ensuring that rescue can be carried out quickly and effectively in an emergency. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0056] Figure 1 A schematic structural diagram of the fire-fighting arm mechanism provided in this embodiment;

[0057] Figure 2 A schematic diagram of the expanded structure of the fire-fighting arm mechanism provided in this embodiment;

[0058] Figure 3 A connection diagram of the fire arm mechanism provided in this embodiment;

[0059] Figure 4 A flow chart of the control method of the fire arm mechanism provided in this embodiment;

[0060] Figure 5 A first flow chart of the control method for the fire arm mechanism provided in this embodiment;

[0061] Figure 6 This is the second flow chart of the control method of the fire arm mechanism provided in this embodiment.

[0062] Icons: 010-fire arm mechanism; 011-fire truck; 100-base; 200-arm structure; 210-rotating platform; 220-first arm; 230-telescopic arm; 240-second arm; 300-executor assembly; 310-executor controller; 400-hydraulic system; 410-rotation drive member; 420-first drive member; 430-telescopic drive member; 440-second drive member; 450-multi-way valve; 460-rotation balancing valve; 470-first balancing valve; 480-second balancing valve; 490-third balancing valve; 500-electrical control system; 510-controller; 520-rotation detection member; 530-first detection member; 540-second detection member; 550-first proximity switch; 560-second proximity switch; 570-third proximity switch; 600-operation console; 700-foot switch. DETAILED DESCRIPTION

[0063] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0064] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are intended to fall within the scope of protection of the present invention.

[0065] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, it does not need to be further defined or explained in subsequent drawings.

[0066] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", etc. appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the accompanying drawings, or is the orientation or position relationship in which the product of the invention is usually placed when in use. It is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be understood as a limitation on the present invention.

[0067] In addition, the terms "first", "second", etc., if used, are merely used to distinguish and describe, and should not be understood as indicating or implying relative importance.

[0068] It should be noted that, in the absence of conflict, the features in the embodiments of the present invention may be combined with each other.

[0069] The overall structure, working principle and technical effects of the fire-fighting arm mechanism 010 provided by the present invention, as well as the detailed steps, implementation principle and technical effects of the corresponding control method are described in detail below through embodiments and in combination with the accompanying drawings.

[0070] Please refer to Figure 1-Figure 2 The control method of the fire arm mechanism 010 and the fire arm mechanism 010 provided by the present invention are applied to a fire truck 011, especially a high-rise fire truck 011.

[0071] The present invention proposes a control method for a fire arm mechanism 010, comprising the following steps:

[0072] S1: The hydraulic system 400 obtains a boom control instruction;

[0073] S2: Determine whether the boom control command is valid;

[0074] S3: Determine whether the boom structure 200 meets the conditions;

[0075] S4: If it is determined that the boom control instruction is valid and the boom structure 200 meets the conditions, the hydraulic system 400 drives one of the boom and the rotary platform 210 to perform an action individually or multiple actions simultaneously.

[0076] It can be understood that by determining whether the boom control instruction is valid and whether the boom structure 200 meets the conditions, it is determined whether the boom structure 200 is in a state capable of executing the control instruction, thereby avoiding misoperation and thus preventing accidents; by controlling the hydraulic system 400 to drive at least one boom and the slewing platform 210 of the boom structure 200 to perform an action, the hydraulic system 400 can not only drive at least one boom or the slewing platform 210 to perform an independent action, but also drive at least one boom and the slewing platform 210 to perform a combined action simultaneously. Through such an arrangement, the control method proposed by the present invention can achieve precise control of the boom structure 200, enabling the boom structure 200 to respond quickly, not only improving the intelligence level of the fire truck 011, making rescue operations more scientific and standardized, providing the fire department with a more intelligent and automated rescue means, greatly shortening the rescue preparation time, but also avoiding misoperation, improving the efficiency and safety of fire rescue, and ensuring that rescue can be carried out quickly and effectively in emergency situations.

[0077] In this embodiment, please refer to Figure 4-Figure 6 , the steps of step S1 specifically include:

[0078] S11: The operation console 600 sends an arm control instruction to the electrical control system 500;

[0079] S12: The electrical control system 500 receives the boom control instruction and sends the boom control instruction to the hydraulic system 400;

[0080] S13: The hydraulic system 400 obtains a boom control instruction.

[0081] It is understood that in step S1, the operator operates the console 600 to send a one-touch deployment control command or a one-touch retraction control command to the controller 510. The controller 510 controls the hydraulic system 400 based on the received command, causing the hydraulic system 400 to drive the boom structure 200 to operate. The operator operates the console 600 to send the one-touch deployment control command or the one-touch retraction control command to the controller 510, and the control command is judged based on the state of the added foot switch 700 in step S2 and the state of the first proximity switch 550 in step S3. This can prevent accidental deployment of the firefighting boom mechanism 010 due to accidental activation, predict potential risks, and avoid accidents caused by accidental deployment or retraction.

[0082] In this embodiment, please refer to Figure 4-Figure 6 , the steps of step S2 specifically include:

[0083] S21: judging whether the arm control command is valid according to the state of the foot switch 700;

[0084] S22: If the foot switch 700 is in the ON state, it is determined that the arm control command is valid;

[0085] S23: If the foot switch 700 is in the OFF state, it is determined that the arm control instruction is invalid.

[0086] It is understood that when no one is operating, the foot switch 700 is in the OFF state; when an operator presses the foot switch 700, the foot switch 700 is in the ON state. By adding the status of the foot switch 700 to determine the control command, the fire arm mechanism 010 can be prevented from being accidentally deployed due to actuation, potential risks can be predicted, and accidents caused by accidental deployment or retraction can be avoided.

[0087] In this embodiment, please refer to Figure 4-Figure 5 , the steps of step S3 specifically include:

[0088] S31: judging whether the boom structure 200 meets the deployment condition according to the state of the first proximity switch 550;

[0089] S32: If the first proximity switch 550 is in the ON state, it is determined that the boom structure 200 meets the deployment condition;

[0090] S33: If the first proximity switch 550 is in the OFF state, it is determined that the boom structure 200 does not meet the deployment condition.

[0091] When the first proximity switch 550 on the bracket contacts the first arm 220 of the arm structure 200 , the first proximity switch 550 is in an ON state; otherwise, the first proximity switch 550 is in an OFF state.

[0092] It can be understood that during the one-button deployment process, the status of the arm structure 200 can be monitored in real time by setting the first proximity switch 550. The first proximity switch 550 can determine whether the arm structure 200 is in the initial state. Therefore, by adding the first proximity switch 550 to judge whether the arm structure 200 is in the initial state, and then judge the deployment control instruction, it is ensured that the fire arm mechanism 010 can be deployed in an orderly manner. At the same time, potential risks are predicted to avoid accidents caused by accidental deployment or retraction.

[0093] Among them, step S3, the specific steps of judging whether the boom structure 200 meets the deployment condition are: if the foot switch 700 is in the ON state and the first proximity switch 550 is in the ON state, it is judged that the boom structure 200 meets the deployment condition.

[0094] In this embodiment, please refer to Figure 4-Figure 6 , the steps of step S4 specifically include:

[0095] S41: If it is determined that the boom control instruction is valid and the boom structure 200 meets the deployment conditions, the hydraulic system 400 drives one of the boom and the rotary platform 210 to perform an action individually or in parallel;

[0096] S42: If it is determined that the boom control instruction is valid and the boom structure 200 meets the retraction condition, the hydraulic system 400 drives one of the boom and the rotary platform 210 to perform an action individually or multiple actions simultaneously.

[0097] It can be understood that the arm structure 200 has a control method for one-button retraction and one-button deployment. The one-button operation design concept makes operation easier, reduces the difficulty of operator training, improves the efficiency and safety of firefighting and rescue, and provides the fire department with more intelligent and automated rescue means, ensuring that rescue can be carried out quickly and effectively in emergency situations.

[0098] In this embodiment, step S41 specifically includes:

[0099] S411: The arm driving member drives the arm structure 200 to unfold to a target state;

[0100] S412: The rotary driving member 410 drives the rotary platform 210 to rotate to a target angle;

[0101] The above steps S411 and S412 may be performed individually or simultaneously.

[0102] In this embodiment, step S42 specifically includes:

[0103] S421: Execution component 300 is reset;

[0104] S422: The arm driving member drives the arm structure 200 to reset;

[0105] S422: The rotary driving member 410 drives the rotary platform 210 to reset;

[0106] The above steps can be performed individually or in multiple steps simultaneously.

[0107] It can be understood that through the above-mentioned steps S41 and S42, the control method can accurately control the boom structure 200, and the boom structure 200 can respond quickly, so that the hydraulic system 400 can not only drive one of the booms or rotary platforms 210 to perform a single action, but also drive multiple synchronous compound actions in one of the booms or rotary platforms 210, which greatly shortens the rescue preparation time and improves the efficiency of the rescue operation.

[0108] In this embodiment, the fire truck 011 includes a chassis, a cab and a fire arm mechanism 010 arranged above the chassis. The cab is arranged at the front of the chassis, and the fire arm mechanism 010 is arranged at the rear of the chassis.

[0109] Please refer to Figure 1-Figure 2 The present invention proposes a fire arm mechanism 010, which is controlled by the above control method. The fire arm mechanism 010 includes:

[0110] The boom structure 200 includes a boom and a rotary platform 210. The rotary platform 210 is rotatably disposed. One end of the boom is rotatably disposed on the rotary platform 210. The other end of the boom is provided with an actuator 300.

[0111] The hydraulic system 400 is in transmission connection with the boom structure 200 and is used to drive the boom structure 200 to perform actions;

[0112] When the boom structure 200 is in a one-key deployment or one-key retraction state, the hydraulic system 400 drives the boom and the rotary platform 210 to perform an action individually or in multiple actions simultaneously.

[0113] Wherein, the boom structure 200 includes at least one boom and a slewing platform 210, and the steps of the hydraulic system 400 driving one of the booms and the slewing platform 210 to perform an action individually or to perform multiple actions synchronously include the following situations: 1. The hydraulic system 400 drives one of the booms to perform an action individually; 2. The hydraulic system 400 drives the slewing platform 210 to perform an action individually; 3. The hydraulic system 400 drives one of the booms and the slewing platform 210 to perform an action synchronously; 4. When the boom includes multiple booms, the hydraulic system 400 drives one of the booms and the slewing platform 210 to perform an action synchronously, and the hydraulic system 400 can also drive multiple booms and slewing platforms 210 to perform an action synchronously, and the hydraulic system 400 can also drive multiple booms to perform an action synchronously. 5. Of course, when the boom structure 200 also includes other structures, the structure can perform an action individually, or perform an action synchronously with one of the booms and / or the slewing platform 210.

[0114] It can be understood that by setting up the boom structure 200 and rotating the slewing platform 210, the overall angle of the boom structure 200 can be adjusted, and the boom can be deployed to enable the boom structure 200 to reach the working height required for firefighting and rescue. By setting up the hydraulic system 400, when the boom structure 200 is in the condition of one-button deployment or one-button retraction, the hydraulic system 400 can drive the boom and the slewing platform 210 of the boom structure 200 to move. The hydraulic system 400 can not only drive one of the booms or slewing platforms 210 to perform a single action, but also drive multiple booms or slewing platforms 210 to perform compound actions synchronously. The hydraulic system 400 can precisely control the boom structure 200 and enable the boom structure 200 to respond quickly, greatly shortening the rescue preparation time and improving the efficiency of the rescue operation. Among them, the one-button operation design concept of one-button deployment or one-button retraction makes the operation easier, reduces the difficulty of operator training, improves the efficiency and safety of firefighting and rescue, and provides the fire department with a more intelligent and automated rescue means, ensuring that rescue can be carried out quickly and effectively in an emergency.

[0115] In this embodiment, the fire arm mechanism 010 includes a base 100. The base 100 is arranged at the rear of the chassis.

[0116] In this embodiment, the firefighting arm mechanism 010 includes an arm structure 200 .

[0117] In an optional embodiment, the arm structure 200 includes an arm and a rotating platform 210. The rotating platform 210 is rotatably arranged. One end of the arm is rotatably arranged on the rotating platform 210, and the other end of the arm is provided with an actuator 300.

[0118] In this embodiment, the boom structure 200 includes at least two booms and a rotating platform 210. The rotating platform 210 is mounted on the base 100 and rotatably connected thereto. The at least two booms are rotatably connected, with one end of the first boom rotatably mounted on the rotating platform 210. The last boom is provided with an actuator assembly 300. A hydraulic system 400 is in transmission connection with the boom structure 200 and the rotating platform 210. The hydraulic system 400 is used to drive the at least two booms of the boom structure 200 to deploy or retract, and also to drive the rotating platform 210 to rotate.

[0119] Wherein, when the boom structure 200 is in a one-key deployment or one-key retraction condition, the hydraulic system 400 is used to drive at least one of the two booms and the rotary platform 210 to perform an action individually or multiple actions simultaneously.

[0120] The boom structure 200 can be configured in two or three arms, each pivotally connected to achieve a foldable configuration. When the boom structure 200 is retracted, the pivotally connected arms fold together, reducing the space occupied by the boom structure 200. When the boom structure 200 is deployed, the pivotally connected arms can be used to traverse obstacles ahead, thereby increasing the working range of the boom structure 200.

[0121] In this embodiment, please refer to Figure 1-Figure 2 The boom structure 200 also includes a telescopic arm 230. The boom includes two arms, namely a first arm 220 and a second arm 240. The first end of the first arm 220 is set on the rotating platform 210, and the first end of the first arm 220 is rotatably connected to the rotating platform 210. The first end of the telescopic arm 230 is telescopically set in the second end arm tube of the first arm 220, and the second end of the telescopic arm 230 is rotatably connected to the first end of the second arm 240. The second end of the second arm 240 is provided with an actuator component 300.

[0122] The hydraulic system 400 is in transmission connection with the first boom 220, the telescopic arm 230, the second boom 240, and the rotary platform 210. The hydraulic system 400 is used to drive the first boom 220 and the second boom 240 to deploy or retract, to drive the telescopic arm 230 to extend and retract, and to drive the rotary platform 210 to rotate.

[0123] The first end of the first arm 220 is hinged to the rotary platform 210 to achieve a rotational connection between the two, and the second end of the telescopic arm 230 is also hinged to the first end of the second arm 240 to achieve a rotational connection between the two.

[0124] Among them, the first end of the telescopic arm 230 can be telescopically arranged in the second end arm tube of the first arm frame 220, so that the length of the arm frame structure 200 in the unfolded state can be adjusted, so that the rescue height range of the arm frame structure 200 is wider.

[0125] It can be understood that when the boom structure 200 is unfolded, the first boom 220 is unfolded relative to the rotating platform 210. After the first boom 220 is unfolded, the rotating platform 210 can be rotated according to the on-site conditions; further, the second boom 240 is unfolded. After the second boom 240 is unfolded, the telescopic arm 230 can be extended according to the on-site conditions.

[0126] Optionally, an inclined mounting surface is provided on the rotary platform 210 , and the first end of the first arm 220 is disposed on the top of the mounting surface.

[0127] In this embodiment, the boom structure 200 further includes a bracket, which is fixed to the rear of the chassis. The bracket is used to support the boom structure 200 in a retracted state.

[0128] In this embodiment, the arm structure 200 also includes an execution component 300, which includes a demolition device, a fire monitor, a fire hose, a contour pan-tilt platform, etc. The execution component 300 can be any one of the demolition device, the fire monitor, the fire hose, and the contour pan-tilt platform.

[0129] In this embodiment, the firefighting arm mechanism 010 includes a hydraulic system 400 .

[0130] Among them, the hydraulic system 400 is arranged on the boom structure 200 and the hydraulic system 400 is connected to the boom structure 200 through transmission. The hydraulic system 400 is used to drive the boom structure 200 to perform actions; when the boom structure 200 is in the condition of one-key expansion or one-key retraction, the hydraulic system 400 drives one of the boom and the rotating platform 210 to perform actions individually or multiple actions synchronously.

[0131] The driving conditions of the hydraulic system 400 include the following: 1. The hydraulic system 400 drives one of the booms to perform an action independently; 2. The hydraulic system 400 drives the slewing platform 210 to perform an action independently; 3. The hydraulic system 400 drives one of the booms and the slewing platform 210 to perform an action synchronously; 4. When there are multiple booms, the hydraulic system 400 drives one of the booms and the slewing platform 210 to perform an action synchronously. The hydraulic system 400 can also drive multiple booms and the slewing platform 210 to perform an action synchronously. The hydraulic system 400 can also drive multiple booms to perform an action synchronously. 5. Of course, when the boom structure 200 also includes a telescopic boom 230, the hydraulic system 400 can drive the telescopic boom 230 to perform an action independently, the hydraulic system 400 can drive the telescopic boom 230, one or two booms, and the slewing platform 210 to perform an action synchronously, the hydraulic system 400 can also drive the telescopic boom 230 and one of the booms to perform an action synchronously, and the hydraulic system 400 can also drive the telescopic boom 230 and the slewing platform 210 to perform an action synchronously.

[0132] In this embodiment, please refer to Figure 3 The hydraulic system 400 includes a multi-way valve 450 and multiple driving parts that are transmission-connected to the boom structure 200. The multi-way valve 450 is connected to the multiple driving parts; the multi-way valve 450 outputs control oil to one of the multiple driving parts, so that the driving part drives one of the boom and the rotary platform 210 to perform an action alone or multiple actions synchronously.

[0133] In this embodiment, the hydraulic system 400 includes a multi-way valve 450 , a rotary driving member 410 , a first driving member 420 , a telescopic driving member 430 , and a second driving member 440 .

[0134] In this embodiment, the rotary driving member 410 is disposed on the base 100 , and the output shaft of the rotary driving member 410 is in transmission connection with the rotary platform 210 . The rotary driving member 410 is used to drive the rotary platform 210 to rotate relative to the base 100 .

[0135] In this embodiment, the first driving member 420 is disposed on the rotary platform 210 . The output end of the first driving member 420 is in transmission connection with the first arm 220 . The first driving member 420 is used to drive the first arm 220 to expand or retract relative to the rotary platform 210 .

[0136] The first driving member 420 is disposed on the lower side of the mounting surface of the rotary platform 210 .

[0137] In this embodiment, the telescopic driving member 430 is arranged in the arm tube of the first arm 220, and the output end of the telescopic driving member 430 is transmission-connected to the telescopic arm 230. The telescopic driving member 430 is used to drive the telescopic arm 230 to extend and retract along the first arm 220.

[0138] In this embodiment, the second driving member 440 is provided on the telescopic arm 230 , and the output end of the second driving member 440 is transmission-connected to the second arm 240 . The telescopic driving member 430 is used to drive the second arm 240 to expand or retract relative to the first arm 220 .

[0139] In this embodiment, the multi-way valve 450 is respectively connected to the rotary drive member 410, the first drive member 420, the telescopic drive member 430, and the second drive member 440. The multi-way valve 450 outputs control oil to any one of the rotary drive member 410, the first drive member 420, the telescopic drive member 430, or the second drive member 440, so that it drives any one of the first boom 220, the telescopic arm 230, the second boom 240, and the rotary platform 210. Of course, the multi-way valve 450 can also output control oil to multiple of the rotary drive member 410, the first drive member 420, the telescopic drive member 430, or the second drive member 440, so that they drive multiple of the first boom 220, the telescopic arm 230, the second boom 240, and the rotary platform 210 to operate synchronously.

[0140] Optionally, the multi-way valve 450 can be a four-piece valve group, which can output control oil to any one or more of the rotary drive member 410, the first drive member 420, the telescopic drive member 430 or the second drive member 440 to respectively control the actions of a boom, a telescopic arm 230, a second boom 240 and a rotary platform 210.

[0141] The multi-way valve 450 is installed under the seat of the cab.

[0142] It is understandable that by providing the multi-way valve 450 , when the boom structure 200 is deployed or retracted, two or three structures can be allowed to perform compound actions synchronously.

[0143] In this embodiment, please refer to Figure 3 The hydraulic system 400 also includes the following balancing valves; the output end of the multi-way valve 450 is connected to the rotary drive member 410 through the rotary balancing valve 460; the output end of the multi-way valve 450 is also connected to the first drive member 420 through the first balancing valve 470; the output end of the multi-way valve 450 is also connected to the telescopic drive member 430 through the second balancing valve 480; the output end of the multi-way valve 450 is also connected to the second drive member 440 through the third balancing valve 490.

[0144] It is understood that after the multi-way valve 450 is activated, the multi-way valve 450 outputs the control oil to the balance valve, which then outputs the control oil to the drive element of the next boom. The provision of the balance valve ensures that the boom mechanism can operate smoothly and safely during deployment and retraction.

[0145] In this embodiment, the firefighting arm mechanism 010 includes an electrical control system 500 .

[0146] The hydraulic system 400 is in communication with the electrical control system 500 , and the electrical control system 500 is used to control the hydraulic system 400 to drive any one or more of the at least two booms and the rotary platform 210 to perform actions.

[0147] In this embodiment, the electrical control system 500 is used to control the hydraulic system 400 to drive any one or more of the first boom 220 , the telescopic arm 230 , the second boom 240 and the rotary platform 210 to operate.

[0148] It can be understood that the electrical control system 500 is communicated with the multi-way valve 450, the rotary drive member 410, the first drive member 420, the telescopic drive member 430 and the second drive member 440 of the hydraulic system 400, so that the electrical control system 500 can control the hydraulic system 400 to drive any one of the first arm 220, the telescopic arm 230, the second arm 240 and the rotary platform 210 to move or multiple of them to move synchronously.

[0149] In this embodiment, please refer to Figure 3 The electrical control system 500 includes a controller 510 and a rotation detection member 520, a first detection member 530, and a second detection member 540 that are communicatively connected to the controller 510. The controller 510 is communicatively connected to the multi-way valve 450 via a CAN bus.

[0150] The controller 510 is disposed inside a control cabinet, and the control cabinet may be disposed at the rear side of the chassis and located at one side of the boom structure 200 .

[0151] In this embodiment, a rotation detection member 520 is disposed on the rotating platform 210 and is used to detect the rotation angle of the rotating platform 210. It is understood that when the rotation detection member 520 detects that the rotating platform 210 has rotated to a set angle, the rotation detection member 520 sends a signal to the controller 510, and the controller 510 controls the rotation driving member 410 via the multi-way valve 450 to stop driving the rotating platform 210.

[0152] Optionally, the rotation detection member 520 may be an encoder, and the rotation detection member 520 is disposed between the rotary platform 210 and the turntable.

[0153] In this embodiment, the first detection member 530 is disposed at the second end of the first arm 220 , and the first detection member 530 is used to detect the deployment angle of the first arm 220 and the telescopic length of the telescopic arm 230 .

[0154] Alternatively, the first detection member 530 may be a long angle sensor, disposed at the second end of the second arm 240, and the pull rope end of the first detection member 530 is fixed to the second end of the telescopic arm 230. Therefore, the first detection member 530 can detect the deployment angle of the first arm 220 relative to the horizontal plane, as well as the telescopic length of the telescopic arm 230.

[0155] In this embodiment, the second detecting member 540 is disposed at the second end of the second arm 240 , and the second detecting member 540 is used to detect the deployment angle of the second arm 240 .

[0156] Optionally, the second detection member 540 may be a tilt sensor, which is installed at the second end of the second arm 240 to detect the deployment angle of the second arm 240 relative to the first arm 220 .

[0157] In this embodiment, the electrical control system 500 further includes a first proximity switch 550 , a second proximity switch 560 , and a third proximity switch 570 , which are communicatively connected to the controller 510 .

[0158] In this embodiment, the arm structure 200 further includes a bracket, which is disposed on the body of the fire truck 011 and is used to support the arm structure 200 . A first proximity switch 550 is disposed on the bracket; the first proximity switch 550 is disposed on the bracket.

[0159] It is understandable that when the first proximity switch 550 on the bracket contacts the first arm 220 of the arm structure 200 , the first proximity switch 550 is in the ON state; otherwise, the first proximity switch 550 is in the OFF state.

[0160] In this embodiment, the second proximity switch 560 is disposed at the second end of the telescopic arm 230 . The second proximity switch 560 is used to detect whether the second arm 240 is extended relative to the first arm 220 .

[0161] It is understandable that when the first arm 220 is retracted and contacts the second proximity switch 560 , the second proximity switch 560 is in the ON state; otherwise, the second proximity switch 560 is in the OFF state.

[0162] It can be understood that the third proximity switch 570 is provided at the bottom of the arm tube of the first arm support 220 , and the third proximity switch 570 is used to detect whether the telescopic arm 230 is in a retracted state.

[0163] It can be understood that when the telescopic arm 230 retracts along the arm tube of the first arm support 220 and contacts the third proximity switch 570, the third proximity switch 570 is in the ON state; otherwise, the third proximity switch 570 is in the OFF state.

[0164] In this embodiment, please refer to Figure 3 The fire arm mechanism 010 further includes an operation console 600 and a foot switch 700 that are communicatively connected to the controller 510. The operation console 600 and the foot switch 700 are arranged in the cab.

[0165] It is understandable that the operator operates the console 600, and the console sends a one-button deployment command to the controller 510; the controller 510 will determine whether the one-button deployment command is valid. If the one-button deployment command is valid, the deployment signal will be sent to the multi-way valve 450 of the hydraulic system 400, thereby allowing the boom structure 200 to be deployed. If the one-button deployment command is invalid, it will not be executed.

[0166] When the foot switch 700 and the first proximity switch 550 are both in the ON state, the controller 510 determines that the one-touch unfolding instruction is valid. If either the foot switch 700 or the first proximity switch 550 is in the OFF state, the controller 510 determines that the one-touch unfolding instruction is invalid.

[0167] Among them, the foot switch 700 and the first proximity switch 550 are provided to judge the one-key deployment instruction, which can avoid the occurrence of the deployment of the fire arm mechanism 010 due to accidental touch.

[0168] In this embodiment, the electrical control system 500 further includes an execution controller 310 communicatively connected to the controller 510 ; wherein the execution controller 310 is used to control the action of the execution component 300 .

[0169] Optionally, the execution controller 310 includes a vertical motor and a horizontal motor; the execution component 300 is arranged at the second end of the second arm 240 through the vertical motor and the horizontal motor, wherein the vertical motor and the horizontal motor are communicatively connected to the execution controller 310, the vertical motor can control the execution component 300 to perform left and right movements, and the horizontal motor can control the execution component 300 to perform pitch movements.

[0170] The working principle and process of the fire arm mechanism 010 provided in the embodiment of the present invention are as follows:

[0171] 1. The deployment process of the fire arm mechanism 010:

[0172] The operator in the cab operates the operation console 600 to send a one-button deployment command to the controller 510 and steps on the foot switch 700; at this time, the foot switch 700 is in the ON state and the first proximity switch 550 is in the ON state, and the controller 510 determines that the one-button deployment command is valid, then the controller 510 sends the one-button deployment command to the multi-way valve 450 of the hydraulic system 400.

[0173] The hydraulic system 400 drives the boom structure 200 to unfold, and includes the following steps: in the first step, the multi-way valve 450 outputs control oil to the first drive member 420, and the first drive member 420 drives the first boom 220 to unfold relative to the rotary platform 210; in the second step, the controller 510 controls the multi-way valve 450 to output control oil to the rotary drive member 410, and the rotary drive member 410 drives the rotary platform 210 to rotate to a set angle; in the third step, the controller 510 controls the multi-way valve 450 to output control oil to the second drive member 440, and the second drive member 440 drives the second boom 240 to unfold relative to the first boom 220; in the fourth step, the controller 510 controls the multi-way valve 450 to output control oil to the telescopic drive member 430, and the telescopic drive member 430 drives the telescopic arm 230 to extend along the first boom 220.

[0174] Among them, two or three compound actions can be allowed to be performed synchronously in the second step, the third step and the fourth step.

[0175] Among them, in the first step, when the first arm 220 is unfolded to the angle at which the rotary platform 210 can rotate, the first detection component 530 sends a signal to the controller 510, and the controller 510 will then control the hydraulic system 400 to control the subsequent second, third and fourth steps.

[0176] 2. Retraction process of fire arm mechanism 010:

[0177] The operator in the cab operates the operation console 600 to send a one-button retraction command to the controller 510 and steps on the foot switch 700; at this time, the foot switch 700 is in the ON state, and the controller 510 determines that the one-button retraction command is valid, then the controller 510 sends the one-button retraction command to the multi-way valve 450 of the hydraulic system 400.

[0178] The hydraulic system 400 drives the boom structure 200 to retract, and includes the following steps: first, the controller 510 drives the execution component 300 to reset by executing the controller 310; second, the controller 510 controls the multi-way valve 450 to output control oil to the telescopic drive member 430, and the telescopic drive member 430 drives the telescopic arm 230 to retract along the first boom 220; third, the controller 510 controls the multi-way valve 450 to output control oil to the second drive member 440, and the second drive member 440 drives the second boom 240 to retract relative to the first boom 220; fourth, the controller 510 controls the multi-way valve 450 to output control oil to the rotary drive member 410, and the rotary drive member 410 drives the rotary platform 210 to rotate to a set angle; fifth, the multi-way valve 450 outputs control oil to the first drive member 420, and the first drive member 420 drives the first boom 220 to retract relative to the rotary platform 210, and the boom structure 200 is retracted and placed on the bracket.

[0179] In the first step, the execution component 300 needs to be completely reset before the next action can be performed.

[0180] Among them, the second and third steps can allow compound actions to be performed synchronously.

[0181] In the second step, the third proximity switch 570 contacts the retracted telescopic arm 230 , and the third proximity switch 570 is in the ON state and sends a signal to the controller 510 , and the telescopic arm 230 stops moving.

[0182] Among them, in the third step, when the second arm 240 is retracted and contacts the second proximity switch 560, the second proximity switch 560 is in the ON state and sends a signal to the controller 510 that the second arm 240 is retracted into place; at this time, the second arm 240 is retracted into place, and the controller 510 can control the subsequent fourth and fifth steps.

[0183] Please refer to Figure 4 The present invention is based on the fire arm mechanism 010 provided in the above embodiment. The present invention proposes a control method for the fire arm mechanism 010, comprising the following steps:

[0184] S1: The hydraulic system 400 obtains a boom control instruction;

[0185] S2: Determine whether the boom control command is valid;

[0186] S3: Determine whether the boom structure 200 meets the conditions;

[0187] S4: If it is determined that the boom control instruction is valid and the boom structure 200 meets the conditions, the hydraulic system 400 drives one of the boom and the rotary platform 210 to perform an action individually or multiple actions simultaneously.

[0188] In this embodiment, step S4 specifically includes:

[0189] S41: If it is determined that the boom control instruction is valid and the boom structure 200 meets the deployment conditions, the hydraulic system 400 drives one of the boom and the rotary platform 210 to perform an action individually or in parallel;

[0190] S42: If it is determined that the boom control instruction is valid and the boom structure 200 meets the retraction condition, the hydraulic system 400 drives one of the boom and the rotary platform 210 to perform an action individually or multiple actions simultaneously.

[0191] In this embodiment, based on the fire arm mechanism 010 provided in the above embodiment, step S41 specifically includes:

[0192] S4101: The first driving member 420 drives the first arm 220 to unfold;

[0193] S4102: If the first detection member 530 detects that the deployment angle of the first arm 220 is greater than or equal to the enabling angle, the rotary driving member 410 starts to drive the rotary platform 210 to rotate;

[0194] S4103: If the first detection member 530 detects that the deployment angle of the first arm 220 is greater than or equal to the target angle, the first driving member 420 stops driving the first arm 220 to deploy;

[0195] S4104: The rotary driving member 410 drives the rotary platform 210 to rotate;

[0196] S4105: If the rotating member detecting member detects that the rotation angle of the rotating platform 210 is greater than or equal to the target angle, the rotating driving member 410 stops driving the rotating platform 210 to rotate;

[0197] S4106: The second driving member 440 drives the second arm 240 to unfold;

[0198] S4107: If the second detection member 540 detects that the deployment angle of the second arm 240 is greater than or equal to the enabling angle, the telescopic driving member 430 starts to drive the telescopic arm 230 to extend;

[0199] S4108: If the second detecting member 540 detects that the deployment angle of the second arm 240 is greater than or equal to the target angle, the second driving member 440 stops driving the second arm 240 to deploy;

[0200] S4109: The telescopic driving member 430 drives the telescopic arm 230 to extend;

[0201] S4110: If the first detection member 530 detects that the extension length of the telescopic arm 230 is greater than or equal to the target length, the telescopic driving member 430 stops driving the telescopic arm 230 to extend;

[0202] S4111: Expansion completed.

[0203] It can be understood that the specific work flow of step S4101 to step S4103 is: the multi-way valve 450 is opened, the multi-way valve 450 outputs control oil to the first driving member 420, and the first driving member 420 drives the first arm 220 to unfold relative to the rotating platform 210; wherein, when the first detection member 530 detects that the unfolding angle of the first arm 220 is greater than or equal to the set maximum angle, the first detection member 530 sends a signal to the controller 510, and the controller 510 closes the multi-way valve 450, and the first arm 220 stops moving.

[0204] The specific workflow of step S4104 is as follows: when the first boom 220 is unfolded to an angle at which the rotary platform 210 can rotate, the first detection member 530 sends a signal to the controller 510 so that the controller 510 controls the boom structure 200 to proceed to the next step S4105.

[0205] The specific working process of step S4105 is as follows: the multi-way valve 450 is opened, the controller 510 controls the multi-way valve 450 to output control oil to the rotary drive component 410, and the rotary drive component 410 drives the rotary platform 210 to rotate to the set angle; wherein, when the rotary detection component 520 detects that the rotation angle of the rotary platform 210 is greater than or equal to the set maximum angle, the rotary detection component 520 sends a signal to the controller 510, the controller 510 closes the multi-way valve 450, and the rotary platform 210 stops moving.

[0206] The specific working process of step S4106 to step S4108 is as follows: the multi-way valve 450 is opened, the controller 510 controls the multi-way valve 450 to output control oil to the second driving member 440, and the second driving member 440 drives the second arm 240 to unfold relative to the first arm 220; wherein, when the second detection member 540 detects that the unfolding angle of the second arm 240 is greater than or equal to the set maximum angle, the second detection member 540 sends a signal to the controller 510, and the controller 510 closes the multi-way valve 450, and the second arm 240 stops moving.

[0207] At the same time, when the second boom 240 is unfolded to the angle at which the telescopic arm 230 can rotate, the second detection member 540 sends a signal to the controller 510 so that the controller 510 controls the boom structure 200 to proceed to the next step S4109.

[0208] The specific workflow of step S4109-step S4110 is as follows: the multi-way valve 450 is opened, the controller 510 controls the multi-way valve 450 to output control oil to the telescopic drive component 430, and the telescopic drive component 430 drives the telescopic arm 230 to extend along the first arm 220; wherein, when the first detection component 530 detects that the extension length of the telescopic arm 230 is greater than or equal to the set maximum length, the first detection component 530 sends a signal to the controller 510, and the controller 510 closes the multi-way valve 450, and the telescopic arm 230 stops moving.

[0209] In step S4111, when the second boom 240 completes the deployment action and stops the action and the telescopic arm 230 completes the extension action and stops the action, the boom structure 200 completes the one-key deployment.

[0210] It is understandable that the hydraulic system 400 can reduce the deployment time of the boom structure 200 and save rescue time by simultaneously controlling the opening of multiple channels in the multi-way valve 450, while also maintaining smooth and safe movement of the boom system.

[0211] In this embodiment, based on the fire arm mechanism 010 provided in the above embodiment, step S42 specifically includes:

[0212] S4201: If the actuator 300 is reset, the first driving member 420 drives the first arm 220 to start resetting, and the rotary driving member 410 drives the rotary platform 210 to start resetting;

[0213] S4202: The telescopic driving member 430 drives the telescopic arm 230 to retract;

[0214] S4203: The second driving member 440 drives the second arm 240 to retract;

[0215] S4204: If the second detection member 540 detects that the deployment angle of the second arm 240 is greater than or equal to the enabling angle and the third proximity switch 570 is in the ON state, the telescopic driving member 430 stops driving the telescopic arm 230;

[0216] S4205: If the second proximity switch 560 is in the ON state, the second driving member 440 stops driving the second arm 240, the rotary driving member 410 drives the rotary platform 210 to start resetting, and the first driving member 420 drives the first arm 220 to start resetting;

[0217] S4206: The rotary driving member 410 drives the rotary platform 210 to rotate;

[0218] S4207: If the rotation detection component 520 detects that the rotation angle of the rotary platform 210 is less than or equal to 0.1°, the rotary driving component 410 stops driving the rotary platform 210;

[0219] S4208: The first driving member 420 drives the first arm 220 to retract;

[0220] S4209: If the first arm 220 is retracted onto the bracket so that the first proximity switch 550 is in the ON state, the first driving member 420 stops driving the first arm 220;

[0221] S4210: Retrieval completed.

[0222] It can be understood that the specific working process of step S4201 is: the controller 510 sends a signal to the execution controller 310, and the execution controller 310 controls the execution component 300 to reset.

[0223] The specific workflow of steps S4202-S4205 is as follows: the multi-way valve 450 opens, and the controller 510 controls the multi-way valve 450 to output control oil to the telescopic drive member 430, which drives the telescopic arm 230 to retract along the first boom 220. When the first telescopic arm 230 retracts along the arm tube of the first boom 220 and contacts the third proximity switch 570, the third proximity switch 570 sends a signal to the controller 510, which closes the multi-way valve 450, causing the telescopic arm 230 to return to its original position and cease operation.

[0224] When the second detection member 540 detects that the rotation angle of the second arm 240 is greater than or equal to the telescopic enabling angle, the second detection member 540 sends a signal to the controller 510, and the controller 510 closes the multi-way valve 450, and the telescopic arm 230 stops moving.

[0225] The multi-way valve 450 is opened, and the controller 510 controls the multi-way valve 450 to output control oil to the second driving member 440, and the second driving member 440 drives the second boom 240 to retract relative to the first boom 220; wherein, when the second boom 240 is retracted to contact with the second proximity switch 560 and is in the ON state, the second proximity switch 560 sends a signal to the controller 510, and the controller 510 closes the multi-way valve 450, and the second boom 240 resets and stops moving.

[0226] The controller 510 can control the boom structure 200 to proceed to the next step S4206 only when the second proximity switch 560 is in the ON state.

[0227] The specific working process of step S4206-step S4207 is as follows: the multi-way valve 450 is opened, the controller 510 controls the multi-way valve 450 to output control oil to the rotary drive component 410, and the rotary drive component 410 drives the rotary platform 210 to rotate and reset; wherein, when the rotary detection component 520 detects that the difference between the rotary platform 210 and the initial angle is less than or equal to ±0.1°, the rotary detection component 520 sends a signal to the controller 510, and the controller 510 closes the multi-way valve 450, and the rotary platform 210 resets and stops moving.

[0228] The specific working process of step S4209 is as follows: the multi-way valve 450 opens, the multi-way valve 450 outputs control oil to the first driving member 420, and the first driving member 420 drives the first arm 220 to retract relative to the rotary platform 210; wherein, when the first arm 220 is retracted to contact with the first proximity switch 550 and is in the ON state, the first proximity switch 550 sends a signal to the controller 510, and the controller 510 closes the multi-way valve 450, and the first arm 220 is reset to the bracket and stops moving.

[0229] It is understandable that the hydraulic system 400 can reduce the retraction time of the boom structure 200 by simultaneously controlling the opening of multiple channels in the multi-way valve 450, and can also maintain the smooth and safe movement of the boom system, while saving rescue time.

[0230] In summary, the control method of the firefighting boom mechanism 010 provided by the embodiment of the present invention determines whether the boom control instruction is valid and whether the boom structure 200 meets the conditions, thereby determining whether the boom structure 200 is in a state capable of executing the control instruction, thereby avoiding misoperation and thus preventing accidents; and by controlling the hydraulic system 400 to drive at least one boom and the slewing platform 210 of the boom structure 200 to perform an action, so that the hydraulic system 400 can not only drive at least one boom or the slewing platform 210 to perform an independent action, but also drive at least one boom and the slewing platform 210 to perform a combined action simultaneously. Through such an arrangement, the control method proposed by the present invention can achieve precise control of the boom structure 200, enabling the boom structure 200 to respond quickly, thereby improving the intelligence level of the fire truck 011, making rescue operations more scientific and standardized, providing the fire department with a more intelligent and automated rescue method, greatly shortening the rescue preparation time, and also avoiding misoperation, improving the efficiency and safety of fire rescue, and ensuring that rescue can be carried out quickly and effectively in emergency situations.

[0231] In summary, the fire-fighting boom mechanism 010 provided by the embodiment of the present invention can adjust the overall angle of the boom structure 200 by rotating the slewing platform 210 by setting the boom structure 200, and can enable the boom structure 200 to reach the working height required for firefighting and rescue by deploying the boom. By providing a hydraulic system 400, when the boom structure 200 is in the condition of one-key deployment or one-key retraction, the hydraulic system 400 can drive the boom of the boom structure 200 and the slewing platform 210 to move. The hydraulic system 400 can not only drive one of the booms or the slewing platform 210 to perform an independent action, It can also drive multiple synchronous compound actions in one of the booms or the rotary platform 210. The hydraulic system 400 can accurately control the boom structure 200 and enable the boom structure 200 to respond quickly, greatly shortening the rescue preparation time and improving the efficiency of the rescue operation. Among them, the one-button operation design concept of one-button expansion or one-button retraction makes the operation easier, reduces the difficulty of operator training, improves the efficiency and safety of fire rescue, and provides the fire department with more intelligent and automated rescue means, ensuring that rescue can be carried out quickly and effectively in emergency situations.

[0232] The above are only specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or replacements that can be easily conceived by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

Claims

1. A control method for a fire-fighting arm mechanism, characterized in that: The following steps are involved: The hydraulic system obtains boom control instructions; Determine whether the boom control command is valid; Determine whether the boom structure meets the conditions; If it is determined that the boom control instruction is valid and the boom structure meets the conditions, the hydraulic system drives one of the boom and the rotary platform to perform an action individually or multiple actions simultaneously.

2. The control method of the fire arm mechanism according to claim 1, characterized in that: If it is determined that the boom control instruction is valid and the boom structure meets the conditions, the steps of driving the hydraulic system to drive at least one of the boom and the slewing platform to perform an action or multiple synchronous actions specifically include: If it is determined that the boom control instruction is valid and the boom structure meets the deployment conditions, the hydraulic system drives one of the boom and the rotary platform to perform an action individually or in multiple simultaneous actions; If it is determined that the boom control instruction is valid and the boom structure meets the retraction condition, the hydraulic system drives one of the boom and the rotary platform to perform an action individually or multiple actions simultaneously.

3. The control method of the fire arm mechanism according to claim 2, characterized in that: If it is determined that the boom control instruction is valid and the boom structure meets the deployment condition, the steps of driving at least one of the boom and the slewing platform to perform an action or multiple synchronous actions by the hydraulic system specifically include: The boom driving member drives the boom structure to unfold to a target state; The rotary driving member drives the rotary platform to rotate to the target angle; The above steps can be performed individually or in multiple steps simultaneously; And / or, if it is determined that the boom control instruction is valid and the boom structure meets the retraction condition, the step of the hydraulic system driving at least one of the boom and the slewing platform to perform an action or multiple synchronous actions specifically includes: Perform component reset; The arm drive component drives the arm structure to reset; The rotary driving member drives the rotary platform to reset; The above steps can be performed individually or in multiple steps simultaneously.

4. The control method of the fire arm mechanism according to claim 1, characterized in that: The step of determining whether the boom structure meets the conditions specifically includes: determining, based on a state of the first proximity switch, whether the boom structure meets a deployment condition; If the first proximity switch is in the ON state, it is determined that the boom structure meets the deployment condition; If the first proximity switch is in the OFF state, it is determined that the boom structure does not meet the deployment condition; and / or, the operating console sends boom control instructions to the electrical control system; The electrical control system receives the boom control instruction and sends the boom control instruction to the hydraulic system; The hydraulic system obtains boom control instructions; And / or, the step of determining whether the boom control instruction is valid specifically includes: According to the status of the foot switch, determine whether the arm control command is valid; If the foot switch is in the ON state, it is determined that the arm control instruction is valid; If the foot switch is in the OFF state, it is determined that the arm control instruction is invalid.

5. A fire-fighting arm mechanism, characterized in that: The fire arm mechanism is controlled by the control method according to any one of claims 1 to 4, and the fire arm mechanism comprises: A boom structure, comprising a boom and a rotary platform, wherein the rotary platform is rotatably arranged, one end of the boom is rotatably arranged on the rotary platform, and the other end of the boom is provided with an actuator; A hydraulic system, the hydraulic system being in transmission connection with the boom structure and being used to drive the boom structure to perform an action; When the boom structure is in a state of one-key deployment or one-key retraction, the hydraulic system drives one of the boom and the slewing platform to perform an action individually or multiple actions simultaneously.

6. The firefighting arm mechanism according to claim 5, characterized in that: The arm structure includes at least two arms and a rotating platform, wherein the rotating platform is arranged on a base and is rotatably connected to the base, and the at least two arms are rotatably connected, one end of the first arm is rotatably arranged on the rotating platform, and the last arm is provided with the actuator; When the boom structure is in a state of one-key deployment or one-key retraction, the hydraulic system is used to drive one of the at least two booms and the rotary platform to perform an action individually or multiple actions simultaneously.

7. The firefighting arm mechanism according to claim 6, characterized in that: The boom structure further includes a telescopic arm, the boom including two arms, namely a first arm and a second arm, the first end of the first arm being disposed on the rotary platform, the first end of the first arm being rotatably connected to the rotary platform, the first end of the telescopic arm being telescopically disposed in an arm tube at the second end of the first arm, the second end of the telescopic arm being rotatably connected to the first end of the second arm, and the second end of the second arm being provided with the actuator; The hydraulic system includes a rotary drive member, an arm drive member and a telescopic drive member, wherein the rotary drive member is used to drive the rotary platform to rotate, and the arm drive member includes a first drive member and a second drive member, wherein the first drive member is used to drive the first arm to extend or retract, and the second drive member is used to drive the second arm to extend or retract; The output end of the first driving member is transmission-connected to the first boom, and the first driving member is used to drive the first boom to expand or retract relative to the rotating platform; the telescopic driving member is arranged in the arm tube of the first boom, and the output end of the telescopic driving member is transmission-connected to the telescopic arm, and the telescopic driving member is used to drive the telescopic arm to retract along the first boom; the second driving member is arranged on the telescopic arm, and the output end of the second driving member is transmission-connected to the second boom, and the telescopic driving member is used to drive the second boom to expand or retract relative to the first boom.

8. The firefighting arm mechanism according to claim 7, characterized in that: The fire arm mechanism includes an electrical control system, the electrical control system is communicatively connected to the hydraulic system, and the electrical control system includes a rotation detection member, a first detection member, and a second detection member; The rotation detection member is arranged on the rotation platform, and the rotation detection member is used to detect the rotation angle of the rotation platform; The first detection member is provided at the second end of the first boom, and is used to detect the deployment angle of the first boom and the telescopic length of the telescopic arm; The second detection member is provided at the second end of the second arm support, and the second detection member is used to detect the deployment angle of the second arm support.

9. The fire arm support mechanism according to claim 8, characterized in that: The electrical control system further includes a first proximity switch, a second proximity switch, and a third proximity switch; the arm structure further includes a bracket, the bracket being used to support the arm structure, and the first proximity switch being arranged on the bracket; The second proximity switch is arranged at the second end of the telescopic arm, and the third proximity switch is arranged at the bottom of the arm tube of the first boom; And / or, the fire arm mechanism includes an operation console and an electrical control system, the operation console is arranged in the cab, and the electrical control system is communicatively connected with the hydraulic system and the operation console; And / or, the anti-arm support mechanism includes a foot switch and an electrical control system; the foot switch is arranged in the cab, and the foot switch is communicatively connected with the electrical control system; the foot switch is manually pressed to change the foot switch from the OFF state to the ON state.

10. The control method of the fire arm mechanism according to claim 9, characterized in that: The electrical control system includes a first proximity switch; The arm structure further includes a bracket, the bracket being used to support the arm structure in a retracted state, and the first proximity switch is disposed on the bracket; When the first proximity switch is in the ON state, the arm structure is in the retracted state and contacts the first proximity switch on the bracket; When the first proximity switch is in the OFF state, the arm structure is in the expanded state and is not in contact with the first proximity switch on the bracket.

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