Rescue operation system and control method thereof

Abstract

The invention discloses a rescue operation system and a control method thereof. The rescue operation system comprises a platform assembly (10) capable of rotating horizontally; the main arm frame assembly (20) is hinged to a first part (P1) of the platform assembly (10) and can change the amplitude in a pitching plane relative to the platform assembly (10); the auxiliary arm frame assembly (30) is rotationally connected with a second part (P2) of the platform assembly (10) and can rotate in a horizontal rotation plane relative to the platform assembly (10); wherein the first part (P1) and the second part (P2) are located on the same side of the platform assembly (10) in the first direction (x) and arranged at intervals in the second direction (y), and the first direction (x) intersects with the second direction (y).

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of rescue operation, and in particular, to a rescue operation system and a control method thereof. BACKGROUND

[0002] Currently, in the disaster rescue scene such as earthquake geology and building collapse, conventional excavating machines are mostly used for rescue operation. Due to the limitation of the number of degrees of freedom of single boom rescue machines, rescue cannot be effectively carried out in various operation scenes, and multiple devices need to be coordinated to complete the operation, such as moving large slabs which requires two or more devices to hoist together, supporting on one side while operating on the other side for collapsed space, grabbing while cutting steel bars for broken concrete slabs, and hoisting large-diameter viaduct piers with hoisting machines, etc. However, the roads at the disaster site are damaged, the equipment transportation is difficult, and the space at the site is narrow, so it is difficult for multiple equipment to effectively carry out collaborative operation.

[0003] In order to realize the rescue operation task in the above scene, some operation devices in the related art use quick-change devices or quick couplings to replace various hydraulic tools such as buckets, grab buckets and breaking hammers, and some operation devices in the related art are provided with operation devices on the left and right sides to facilitate collaborative operation on both sides. SUMMARY

[0004] It is found through research that the operation device using quick-change devices or quick couplings to replace tools is difficult to be applied to the operation scene which needs to be completed by two arms, and the operation device provided with operation devices on the left and right sides has limited control ability and has the risk of collision when the two arms collaboratively operate.

[0005] Therefore, the present disclosure provides a rescue operation system and a control method thereof, which can adapt to more diverse rescue operation scenes and reduce the risk in the operation process.

[0006] In one aspect of the present disclosure, a rescue operation system is provided, comprising:

[0007] a horizontally rotatable platform assembly;

[0008] a main boom assembly hinged to a first part of the platform assembly and capable of luffing in a luffing plane relative to the platform assembly; and

[0009] a secondary boom assembly rotationally connected to a second part of the platform assembly and capable of rotating in a horizontal rotation plane relative to the platform assembly;

[0010] wherein the first part and the second part are located on the same side of the platform assembly along a first direction and are arranged at intervals along a second direction, and the first direction intersects the second direction.

[0011] In some embodiments, the first direction and the second direction are both parallel to the horizontal revolution plane.

[0012] In some embodiments, the rescue operation system further comprises a first driving assembly and a second driving assembly; the platform assembly comprises:

[0013] a platform structure provided with a boom cylinder seat and a rotating mounting seat; and

[0014] a mounting frame fixedly connected with the platform structure and provided with a rotating cylinder seat;

[0015] wherein the main arm assembly comprises a first boom hingedly connected with the mounting frame, the auxiliary arm assembly comprises a rotating body provided on the rotating mounting seat, the first driving assembly comprises a first boom driving cylinder, a first end of the first boom driving cylinder is hingedly connected with the boom cylinder seat, and a second end thereof is hingedly connected with the first boom, and the second driving assembly comprises a rotating cylinder, a first end of the rotating cylinder is hingedly connected with the rotating cylinder seat, and a second end thereof is hingedly connected with the rotating body.

[0016] In some embodiments, the first boom driving cylinder is located at a lower side of the hinged shaft of the first boom and the mounting frame, and the second end of the first boom driving cylinder is hingedly connected with a root of the first boom.

[0017] In some embodiments, the main arm assembly adopts a telescopic excavator arm type structure and is configured to independently operate or cooperatively operate with the auxiliary arm assembly.

[0018] In some embodiments, the main arm assembly comprises:

[0019] a first boom; and

[0020] a telescopic arm assembly hingedly connected with the first boom, comprising an arm sleeve and a telescopic arm telescopically located in the arm sleeve, and a first implement assembly is provided at a distal end of the telescopic arm.

[0021] In some embodiments, the rescue operation system further comprises a first driving assembly, and the first driving assembly comprises:

[0022] a first boom driving cylinder drivingly connected with the first boom and configured to drive the first boom to realize luffing movement in the luffing plane;

[0023] a first arm driving cylinder hingedly connected with the first boom at one end and drivingly connected with the telescopic arm assembly at the other end and configured to drive the telescopic arm assembly to realize luffing movement in the luffing plane; and

[0024] A telescopic oil cylinder is drivingly connected with the telescopic boom assembly and is configured to drive the telescopic boom assembly to telescope to adjust the position of the first implement assembly along the length direction of the telescopic boom assembly.

[0025] In some embodiments, the main boom assembly further comprises a first link and a second link, one end of the first link is hingedly connected with the first swing arm, the other end of the first link is hingedly connected with the middle part of the second link, one end of the second link is hingedly connected with the boom sleeve, the other end of the second link is hingedly connected with the first boom driving oil cylinder, the first link, the second link, the first swing arm and the boom sleeve form a four-bar linkage assembly.

[0026] In some embodiments, the first implement assembly comprises a grab bucket device and a first quick-change joint, the first driving assembly further comprises a first implement driving oil cylinder, the first quick-change joint is hingedly connected with the end of the telescopic boom, the first implement driving oil cylinder is arranged on the telescopic boom and is drivingly connected with the first quick-change joint, the first implement driving oil cylinder is configured to drive the first quick-change joint to realize luffing motion in the luffing plane, the grab bucket device comprises a first support frame and a grab bucket assembly, the first support frame is connected with the first quick-change joint, the grab bucket assembly is rotatably installed on the first support frame and can realize opening and closing action.

[0027] In some embodiments, the rescue operation system further comprises a first sensor group and a controller, the first sensor group comprises:

[0028] A first swing arm inclination sensor arranged on the first swing arm;

[0029] A first boom inclination sensor arranged on the boom sleeve;

[0030] A wireline sensor arranged between the telescopic boom and the boom sleeve;

[0031] A grab bucket inclination sensor arranged on the first quick-change joint;

[0032] A grab bucket rotation encoder arranged on the first support frame; and

[0033] A grab bucket opening and closing sensor arranged on the grab bucket assembly.

[0034] The controller is signal connected with the first sensor group and is configured to determine the movement posture of the main boom assembly according to the acquired position information of each movement component in the main boom assembly.

[0035] In some embodiments, the auxiliary boom assembly adopts a flexible collaborative arm type structure and is configured to independently work or work in cooperation with the main boom assembly.

[0036] In some embodiments, the auxiliary boom assembly comprises:

[0037] a rotating body arranged on the platform assembly;

[0038] a deflecting body rotationally connected to the rotating body;

[0039] a second movable arm hingedly connected to the deflecting body; and

[0040] a second arm hingedly connected to the second movable arm, and a second implement assembly arranged at the end of the second arm;

[0041] wherein the rescue operation system further comprises a second driving assembly, the second driving assembly comprising:

[0042] a rotating cylinder drivingly connected to the rotating body and configured to drive the rotating body to horizontally rotate relative to the platform assembly;

[0043] a deflecting cylinder drivingly connected to the deflecting body and configured to drive the deflecting body to deflect left and right relative to the platform assembly;

[0044] a second movable arm driving cylinder drivingly connected to the second movable arm and configured to drive the second movable arm to realize luffing motion in the luffing plane; and

[0045] a second arm driving cylinder having one end hingedly connected to the second movable arm and the other end drivingly connected to the second arm and configured to drive the second arm to realize luffing motion in the luffing plane.

[0046] In some embodiments, the second implement assembly comprises a hydraulic shearing device and a second quick-change connector, the second driving assembly further comprises a second implement driving cylinder, the second quick-change connector is hingedly connected to the end of the second arm, the second implement driving cylinder is arranged on the second arm and drivingly connected to the second quick-change connector, the second implement driving cylinder is configured to drive the second quick-change connector to realize luffing motion in the luffing plane, the hydraulic shearing device comprises a second support frame and a shearing mechanism, the second support frame is connected to the second quick-change connector, the shearing mechanism is rotationally mounted on the second support frame and can realize opening and closing action.

[0047] In some embodiments, the rescue operation system further comprises a second sensor group and a controller, the second sensor group comprising:

[0048] a rotating inclination sensor arranged on the rotating body;

[0049] a deflecting inclination sensor arranged on the deflecting body;

[0050] a second boom tilt sensor disposed on the second boom;

[0051] a second stick tilt sensor disposed on the stick;

[0052] a shear tilt sensor disposed on the second quick coupler;

[0053] a shear rotation encoder disposed on the second support frame; and

[0054] a shear opening and closing sensor disposed on the shear mechanism;

[0055] wherein the controller is in signal connection with the second sensor group and is configured to determine a movement posture of the sub-boom assembly according to the acquired position information of each movement component in the sub-boom assembly.

[0056] In some embodiments, the rescue operation system further comprises:

[0057] a first handle assembly having a plurality of first operation portions, the number of the plurality of first operation portions being equal to the sum of the movement degrees of freedom of the sub-boom assembly, and each first operation portion being in one-to-one correspondence with each action realized by the sub-boom assembly; and

[0058] a second handle assembly having a plurality of second operation portions, the number of the plurality of second operation portions being equal to the sum of the movement degrees of freedom of the main boom assembly and the platform assembly, and each second operation portion being in one-to-one correspondence with each action realized by the main boom assembly and the slewing action of the platform assembly.

[0059] In some embodiments, the rescue operation system further comprises:

[0060] an operator seat;

[0061] wherein the first handle assembly and the second handle assembly are respectively located on the left and right sides of the operator seat.

[0062] In some embodiments, the rescue operation system further comprises:

[0063] a platform rotation encoder disposed on the platform assembly and configured to detect slewing position information of the platform assembly;

[0064] a first sensor group configured to detect position information of each movement component in the main boom assembly;

[0065] a second sensor group configured to detect position information of each movement component in the sub-boom assembly;

[0066] a first driving assembly including a plurality of driving members respectively driving movements of the movement components in the main boom assembly;

[0067] a second driving assembly including a plurality of driving members respectively driving movements of the movement components in the auxiliary boom assembly; and

[0068] a controller, in signal connection with the platform rotation encoder, the first sensor group, the second sensor group, the first driving assembly and the second driving assembly, configured to determine movement postures of the main boom assembly and the auxiliary boom assembly according to the detection data of the platform rotation encoder, the first sensor group and the second sensor group, determine whether there is a collision risk between the main boom assembly and the auxiliary boom assembly according to the movement postures of the main boom assembly and the auxiliary boom assembly, and stop driving the driving members corresponding to the movement components with the collision risk in the first driving assembly and the second driving assembly when it is determined that there is a collision risk.

[0069] In an aspect of the present disclosure, a control method of the aforementioned rescue operation system is provided, comprising:

[0070] detecting the slewing position information of the platform assembly by a platform rotation encoder, detecting the position information of the movement components in the main boom assembly by the first sensor group, and detecting the position information of the movement components in the auxiliary boom assembly by the second sensor group;

[0071] determining the movement postures of the main boom assembly and the auxiliary boom assembly according to the detection data of the platform rotation encoder, the first sensor group and the second sensor group;

[0072] determining whether there is a collision risk between the main boom assembly and the auxiliary boom assembly according to the movement postures of the main boom assembly and the auxiliary boom assembly, and stopping driving the driving members corresponding to the movement components with the collision risk in the first driving assembly and the second driving assembly when it is determined that there is a collision risk.

[0073] According to the embodiments of the present disclosure, the rescue operation system adopts the cooperation of the main boom assembly and the auxiliary boom assembly for rescue operation, wherein the main boom assembly can realize luffing and swinging to utilize the rigidity of the platform assembly itself to bear larger overturning moment and operation reaction force, so as to ensure the stability of the structure in heavy load operation, and the auxiliary boom assembly installed on the same side of the main boom assembly can rotate relative to the platform assembly in the horizontal rotation plane, and the rotation is independent of the horizontal rotation of the platform assembly, so that the auxiliary boom assembly can be flexibly used for more refined operation in some scenes where the platform assembly needs to remain stationary, which is conducive to reducing the operation difficulty and thus can adapt to more diverse rescue operation scenes. Moreover, since the horizontal rotation of the auxiliary boom assembly is independent of the platform assembly and the main boom assembly, the main boom assembly and the auxiliary boom assembly are decoupled in the kinematic model, which makes it easier to predict and avoid the interference area between the two, thereby being conducive to reducing the risks occurring in the operation process. Attached Figure Description

[0074] The accompanying drawings, which form part of this specification, illustrate embodiments of this disclosure and, together with the specification, serve to explain the principles of this disclosure.

[0075] This disclosure will become clearer with reference to the accompanying drawings and the following detailed description, wherein:

[0076] Figure 1 These are schematic diagrams illustrating the structure of some embodiments of the rescue operation system disclosed herein;

[0077] Figure 2 This is a schematic diagram of the control relationship according to an embodiment of the rescue operation system disclosed herein;

[0078] Figure 3 This is a structural schematic diagram of the main boom assembly according to an embodiment of the rescue operation system disclosed herein;

[0079] Figure 4 This is a schematic diagram of the degrees of freedom of the main boom assembly in an embodiment of the rescue operation system disclosed herein;

[0080] Figure 5 This is a structural schematic diagram of the auxiliary boom assembly according to an embodiment of the rescue operation system disclosed herein;

[0081] Figure 6 and Figure 7 This is a schematic diagram of the degrees of freedom of the auxiliary boom assembly in an embodiment of the rescue operation system disclosed herein;

[0082] Figure 8 This is a structural diagram of the platform components according to an embodiment of the rescue operation system disclosed herein;

[0083] Figure 9 This is a schematic diagram of the installation structure of the handle assembly according to an embodiment of the rescue operation system disclosed herein;

[0084] Figure 10 This is a schematic diagram of the structure of the first handle assembly and the second handle assembly according to the embodiments of the rescue operation system disclosed herein;

[0085] Figure 11 This is an operational schematic diagram of the first handle assembly according to an embodiment of the rescue operation system disclosed herein;

[0086] Figure 12 This is an operational schematic diagram of the second handle assembly according to an embodiment of the rescue operation system disclosed herein;

[0087] Figure 13 This is a schematic diagram of information transmission between modules in an embodiment of the rescue operation system disclosed herein;

[0088] Figure 14 is a flowchart diagram of some embodiments of a control method of a rescue operation system according to the present disclosure.

[0089] It should be understood that the dimensions of the various parts shown in the drawings are not necessarily to scale. Furthermore, like or similar reference numerals are intended to represent like or similar parts.

[0090] BRIEF DESCRIPTION OF DRAWINGS

[0091] 10, platform assembly; 11, platform structure; 12, boom cylinder seat; 13, rotary mounting seat; 14, mounting frame; 141, articulated shaft; 142, hollow part; 15, rotary cylinder seat; 16, slewing bearing mounting seat; 17, platform rotary encoder;

[0092] 20, main boom assembly; 21, first boom; 22, telescopic stick assembly; 221, stick sleeve; 222, telescopic stick; 23, first connecting rod; 24, second connecting rod; 25, first quick-change joint; 26, grab device; 261, first support frame; 262, grab arm assembly;

[0093] 30, auxiliary boom assembly; 31, rotating body; 32, deflecting body; 33, second boom; 34, stick; 35, second quick-change joint; 36, hydraulic shear device; 361, second support frame; 362, shear mechanism;

[0094] 40, first drive assembly; 41, first boom drive cylinder; 42, first stick drive cylinder; 43, telescopic cylinder; 44, first implement drive cylinder;

[0095] 50, second drive assembly; 51, rotary cylinder; 52, deflecting cylinder; 53, second boom drive cylinder; 54, second stick drive cylinder; 55, second implement drive cylinder;

[0096] 60, first sensor group; 61, first boom inclination sensor; 62, first stick inclination sensor; 63, wire tension sensor; 64, grab inclination sensor; 65, grab rotary encoder; 66, grab opening and closing sensor;

[0097] 71, rotary inclination sensor; 72, deflecting inclination sensor; 73, second boom inclination sensor; 74, second stick inclination sensor; 75, hydraulic shear inclination sensor; 76, hydraulic shear rotary encoder; 77, hydraulic shear opening and closing sensor;

[0098] 80, controller;

[0099] 91, first handle assembly; 92, second handle assembly; 93, operator seat;

[0100] P1, first portion; P2, second portion; x, first direction; y, second direction; z, third direction. DETAILED DESCRIPTION

[0101] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative in nature and is in no way prescriptive, restrictive, or limiting of the disclosure and its applications or uses. The present disclosure can be implemented in numerous different forms, as will be apparent to one of ordinary skill in the art. The embodiments provided are by way of example only, and nothing in this specification should be construed as a limitation upon the overall scope of the present disclosure. It should be noted that the relative arrangement of components and steps illustrated in these embodiments, the components of the materials, numerical expressions, and numerical values set forth herein are to be interpreted as illustrative only, unless otherwise specifically stated.

[0102] For the words "comprise" or "contain" and similar words, when used to describe that a certain element "comprises" or "contains" certain elements, it is understood that the elements listed after the word are the components of the element before the word, but it does not exclude the case that the element before the word also contains other elements. And this expression also specifically covers the case that the element before the word is completely composed of or specifically realized by all the elements listed after the word.

[0103] The "first", "second", and similar words used in the present disclosure do not represent any order, number, or importance, but are only used to distinguish different parts. "Up", "down", "left", "right", and the like are only used to represent relative positional relationships, which may also change accordingly when the absolute position of the described object changes.

[0104] In the present disclosure, when it is described that a certain device is located between a first device and a second device, there can be an intervening device between the certain device and the first device or the second device, or there can be no intervening device. When it is described that a certain device is connected to other devices, the certain device can be directly connected to the other devices without an intervening device, or it can not be directly connected to the other devices with an intervening device.

[0105] All terms used in the present disclosure, including technical terms or scientific terms, have the same meanings as those understood by a person of ordinary skill in the art to which the present disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in a generally used dictionary should be interpreted as having meanings consistent with the meanings in the context of the relevant technology, and should not be interpreted in an idealized or extremely formalized sense, unless otherwise explicitly defined herein.

[0106] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art(s) can not be discussed in detail herein, but should be considered within the scope of the present disclosure where appropriate.

[0107] In order to implement rescue operation tasks in scenarios such as road damage at a disaster site, difficulty in transporting equipment, and narrow space at the site, making it difficult for multiple types of equipment to effectively perform collaborative work, some operation devices in the related art use quick-change devices or quick couplings to replace various hydraulic tools such as buckets, grab buckets, and breaking hammers, and some operation devices in the related art are provided with operation devices on the left and right sides to facilitate collaborative work on both sides.

[0108] Research has found that operation devices that use quick-change devices or quick couplings to replace tools are difficult to apply to work scenarios that require both arms to complete, and operation devices that are provided with operation devices on the left and right sides have limited control capabilities and have a risk of collision when both arms perform collaborative work.

[0109] Therefore, embodiments of the present disclosure provide a rescue operation system and a control method thereof, which can adapt to more diverse rescue operation scenarios and reduce risks in the operation process.

[0110] Figure 1 is a structural schematic diagram of some embodiments of the rescue operation system according to the present disclosure. Referring to Figure 1 Embodiments of the present disclosure provide a rescue operation system, which includes a horizontally rotatable platform assembly 10, a main boom assembly 20, and a secondary boom assembly 30.

[0111] The platform assembly 10 can be mounted on a movable chassis and rotationally connected to the chassis to achieve horizontal rotation. The platform assembly 10 can be mounted on the chassis through a rotary support. The rotation of the platform assembly 10 has two actions of platform left rotation ZP1 and platform right rotation ZP2 (see Figure 4 ).

[0112] The main boom assembly 20 is hinged to a first part P1 of the platform assembly 10 and can vary in amplitude in a pitch plane relative to the platform assembly 10. The pitch plane is perpendicular to the hinge axis at the first part P1.

[0113] The secondary boom assembly 30 is rotationally connected to a second part P2 of the platform assembly 10 and can rotate in a horizontal rotation plane relative to the platform assembly 10. The horizontal rotation plane can be parallel to the horizontal rotation plane of the platform assembly 10 relative to the chassis, or there can be an included angle.

[0114] The main boom assembly 20 and the secondary boom assembly 30 can adopt an asymmetric structure type.

[0115] The first position P1 and the second position P2 are located on the same side of the platform assembly 10 along a first direction x and are spaced apart along a second direction y, the first direction x intersecting the second direction y.

[0116] The first direction x can be, but is not limited to, set as the front direction of the rescue operation system, and accordingly, the main boom assembly 20 and the auxiliary boom assembly 30 can be mounted on the same side of the platform assembly 10 to facilitate cooperation between the two.

[0117] The first position P1 and the second position P2 are spaced apart along the second direction y intersecting the first direction x, so as to enable the auxiliary boom assembly 30 to obtain a more sufficient operation space. Here, the first direction x can be perpendicular to the second direction y, or can be obliquely intersected.

[0118] Optionally, the first direction x and the second direction y can both be parallel to the horizontal rotation plane. That is, the third direction z in the figure is parallel to the vertical direction and perpendicular to the xy plane formed by the first direction x and the second direction y.

[0119] In the embodiment, the rescue operation system adopts the cooperation of the main boom assembly and the auxiliary boom assembly, the main boom assembly can realize luffing and swinging to utilize the rigidity of the platform assembly itself to bear larger overturning moment and operation reaction force, so as to ensure the stability of the structure in heavy load operation, and the auxiliary boom assembly mounted on the same side of the main boom assembly can rotate relative to the platform assembly in the horizontal rotation plane, the rotation is independent of the horizontal rotation of the platform assembly, so that the auxiliary boom assembly can be flexibly used for more refined operation in some scenes where the platform assembly needs to remain stationary, which is conducive to reducing the operation difficulty, so as to adapt to more diverse rescue operation scenes. Moreover, since the horizontal rotation of the auxiliary boom assembly is independent of the platform assembly and the main boom assembly, the main boom assembly and the auxiliary boom assembly are decoupled in the kinematic model, which makes the interference area between the two more easily predictable and avoidable, thereby facilitating the reduction of risks occurring in the operation process.

[0120] Figure 2 is a control relationship diagram according to the rescue operation system embodiment of the present disclosure. Figure 3 is a structure diagram of the main boom assembly according to the rescue operation system embodiment of the present disclosure. Figure 4 is a degree of freedom diagram of the main boom assembly according to the rescue operation system embodiment of the present disclosure. Reference Figure 1 and Figure 3 In some embodiments, the main boom assembly 20 adopts a telescopic excavator arm type structure and is configured to operate independently or in cooperation with the auxiliary boom assembly 30.

[0121] The main boom assembly 20 adopts a telescopic excavator arm type structure, which can achieve a larger working range and can perform operations such as excavation on a remote or deep area. When performing rescue operations in a dangerous area, the operator can be kept away from the dangerous area as much as possible, and the relevant operations can be completed by elongating the components in the main boom assembly 20.

[0122] The main boom assembly 20 can independently perform operations, and the auxiliary boom assembly 30 can avoid the working range of the main boom assembly 20 or be removed from the platform assembly 10 at this time. The main boom assembly 20 can also cooperate with the auxiliary boom assembly 30 to perform operations, for example, when the main boom assembly 20 clamps a structure that needs to be broken, the structure can be sheared or broken by the auxiliary boom assembly 30.

[0123] Reference Figure 3 and Figure 4 In some embodiments, the main boom assembly 20 includes a first swing arm 21 and a telescopic bucket rod assembly 22. The telescopic bucket rod assembly 22 is hinged to the first swing arm 21 and includes a bucket rod sleeve 221 and a telescopic bucket rod 222 telescopically located in the bucket rod sleeve 221, and the telescopic bucket rod 222 is provided with a first implement assembly at the end thereof. The rescue operation system further includes a first driving assembly 40, which includes a first swing arm driving oil cylinder 41, a first bucket rod driving oil cylinder 42, and a telescopic oil cylinder 43.

[0124] The first swing arm driving oil cylinder 41 is drivingly connected to the first swing arm 21 and is configured to drive the first swing arm 21 to perform luffing motion in the pitch plane. The luffing of the first swing arm 21 has two actions of swing arm lowering ZD1 and swing arm raising ZD2.

[0125] One end of the first bucket rod driving oil cylinder 42 is hinged to the first swing arm 21, and the other end is drivingly connected to the telescopic bucket rod assembly 22 and is configured to drive the telescopic bucket rod assembly 22 to perform luffing motion in the pitch plane. The luffing of the telescopic bucket rod assembly 22 has two actions of bucket rod retraction ZG1 and bucket rod swing ZG2.

[0126] The telescopic oil cylinder 43 is drivingly connected to the telescopic bucket rod assembly 22 and is configured to drive the telescopic bucket rod assembly 22 to telescope to adjust the position of the first implement assembly in the length direction of the telescopic bucket rod assembly 22. The telescoping of the telescopic bucket rod assembly 22 has two actions of bucket rod retraction ZS1 and bucket rod extension ZS2.

[0127] Through the driving of the first swing arm 21, the bucket rod sleeve 221, and the telescopic bucket rod 222 of the telescopic bucket rod assembly 22, the pose of the first implement assembly can be more flexibly adjusted, and the first implement assembly has a larger working range in the pitch plane.

[0128] ReferenceFigure 3 In some embodiments, the main boom assembly 20 further comprises a first connecting rod 23 and a second connecting rod 24, one end of the first connecting rod 23 is hinged to the first swing arm 21, the other end is hinged to the middle of the second connecting rod 24, one end of the second connecting rod 24 is hinged to the bucket rod sleeve 221, the other end is hinged to the first bucket rod driving cylinder 42, and the first connecting rod 23, the second connecting rod 24, the first swing arm 21 and the bucket rod sleeve 221 form a four-bar linkage assembly.

[0129] This four-bar linkage assembly can amplify the range of amplitude of the bucket rod sleeve 211, and the first bucket rod driving cylinder 42 can increase the amplitude angle of the bucket rod sleeve 211 by about 24% under the premise of the same telescopic stroke, and this structure is relatively compact, facilitating the overall vehicle layout.

[0130] Reference Figure 3 And Figure 4 In some embodiments, the first implement assembly comprises a grab bucket device 26 and a first quick-change joint 25. The first driving assembly 40 further comprises a first implement driving cylinder 44, and the first quick-change joint 25 is hinged to the end of the telescopic bucket rod 222.

[0131] The first implement driving cylinder 44 is arranged on the telescopic bucket rod 222 and is drivingly connected with the first quick-change joint 25, and the first implement driving cylinder 44 is configured to drive the first quick-change joint 25 to realize amplitude motion in the pitch plane. The amplitude of the first implement assembly has two actions of implement retraction ZJ1 and implement swing ZJ2.

[0132] The first quick-change joint 25 can be used to connect various implements, such as hydraulic grab buckets, clamps, breaking hammers, hydraulic shears, etc. Through the driving action of the first implement driving cylinder 44 on the first quick-change joint 25, the posture of the implement connected with the first quick-change joint 25 can be adjusted, facilitating the operation.

[0133] As Figure 3 shown, a plurality of connecting rods can be provided on the side of the first quick-change joint 25 close to the first implement driving cylinder 44, and the plurality of connecting rods, the telescopic bucket rod 222 and the first quick-change joint 25 can also form a four-bar linkage assembly. One end of the first quick-change joint 25 is connected with the end of the telescopic bucket rod 222, and the other end is connected with the first implement driving cylinder 44 through the four-bar linkage assembly. In this way, the range of amplitude of the first implement assembly can also be amplified.

[0134] The grab bucket device 26 comprises a first support frame 261 connected with the first quick-change joint 25 and a grab bucket assembly 262 rotatably mounted on the first support frame 261 and capable of realizing opening and closing actions. The rotation of the grab bucket assembly 262 has two actions of machine left turning ZX1 and machine right turning ZX2, and the opening and closing of the grab bucket assembly 262 has two actions of machine closing ZK1 and machine opening ZK2.

[0135] For the grab bucket device 26, the alignment and grabbing of the object to be grabbed can be completed through the rotation and opening and closing of the grab bucket assembly 262, the accuracy of grabbing the object is improved, and the success rate and reliability of the rescue operation are improved.

[0136] Reference Figure 2 And Figure 3 In some embodiments, the rescue operation system further comprises a first sensor group 60 and a controller 80, wherein the first sensor group 60 comprises a first boom inclination sensor 61, a first stick inclination sensor 62, a pull wire sensor 63, a grab bucket inclination sensor 64, a grab bucket rotation encoder 65 and a grab bucket opening and closing sensor 66.

[0137] The first boom inclination sensor 61 is arranged on the first boom 21. The first stick inclination sensor 62 is arranged on the stick sleeve 221. The pull wire sensor 63 is arranged between the telescopic stick 222 and the stick sleeve 221. The grab bucket inclination sensor 64 is arranged on the first quick-change joint 25. The grab bucket rotation encoder 65 is arranged on the first support frame 261. The grab bucket opening and closing sensor 66 is arranged on the grab bucket assembly 262.

[0138] The controller 80 is signal-connected with the first sensor group 60 and is configured to determine the movement posture of the main boom assembly 20 according to the position information of each movement component in the main boom assembly 20. Here, each sensor in the first sensor group 60 respectively monitors the position information of each movement component at its arranged position and feeds back to the controller 80 in real time.

[0139] Figure 5 is a structural schematic view of a sub-boom assembly in an embodiment of the rescue operation system according to the present disclosure. Figure 6 And Figure 7 is a degree of freedom schematic view of a sub-boom assembly in an embodiment of the rescue operation system according to the present disclosure. Reference Figure 1 And Figure 5 In some embodiments, the sub-boom assembly 30 adopts a flexible collaborative arm type structure and is configured to independently work or work in cooperation with the main boom assembly 20.

[0140] The auxiliary boom assembly 30 adopts a flexible coordinated arm structure and rotates independently relative to the platform assembly 10, can work in more directions, reduces the work blind area, and can effectively avoid obstacles, and independently or cooperates with the main boom assembly 20 to complete precise work in a complex and restricted environment.

[0141] Reference Figures 5-7 In some embodiments, the auxiliary boom assembly 30 includes a rotating body 31, a deflection body 32, a second movable arm 33, and a bucket arm 34. The rotating body 31 is arranged on the platform assembly 10. The deflection body 32 is rotationally connected with the rotating body 31. The second movable arm 33 is hingedly connected with the deflection body 32. The bucket arm 34 is hingedly connected with the second movable arm 33, and a second implement assembly is arranged at the end of the bucket arm 34. The rescue work system further includes a second driving assembly 50, which includes a rotating cylinder 51, a deflection cylinder 52, a second movable arm driving cylinder 53, and a second bucket arm driving cylinder 54.

[0142] The rotating cylinder 51 is drivingly connected with the rotating body 31 and is configured to drive the rotating body 31 to horizontally rotate relative to the platform assembly 10. The second movable arm 33 can rotate with the rotating body 31 and has two actions of movable arm left rotation FP1 and movable arm right rotation FP2.

[0143] The deflection cylinder 52 is drivingly connected with the deflection body 32 and is configured to drive the deflection body 32 to left-right deflect relative to the platform assembly 10. The second movable arm 33 can deflect with the rotating body 31 and has two actions of movable arm left deflection FB1 and movable arm right deflection FB2.

[0144] The second movable arm driving cylinder 53 is drivingly connected with the second movable arm 33 and is configured to drive the second movable arm 33 to realize luffing motion in the pitch plane. The luffing of the second movable arm 33 has two actions of movable arm down pitch FD1 and movable arm up pitch FD2.

[0145] One end of the second bucket arm driving cylinder 54 is hingedly connected with the second movable arm 33, and the other end is drivingly connected with the bucket arm 34 and is configured to drive the bucket arm 34 to realize luffing motion in the pitch plane. The luffing of the bucket arm 34 has two actions of bucket arm in-retraction FG1 and bucket arm out-retraction FG2.

[0146] Through the driving of the rotating body 31, the deflection body 32, the second movable arm 33, and the bucket arm 34, the second implement assembly can more flexibly adjust the pose of the first implement assembly, and the first implement assembly can realize pose adjustment in a spherical work range, thereby more effectively avoiding obstacles and performing precise work.

[0147] Reference Figure 5 and Figure 6In some embodiments, the second implement assembly includes a hydraulic shear 36 and a second quick coupler 35, the second drive assembly 50 further includes a second implement drive cylinder 55, the second quick coupler 35 is hingedly connected to the end of the boom 34, and the second implement drive cylinder 55 is arranged on the boom 34 and drivingly connected to the second quick coupler 35.

[0148] The second quick coupler 35 can be used to connect various implements, such as a hydraulic grab, a clamp, a breaking hammer, a hydraulic shear, etc. Through the driving action of the second implement drive cylinder 55 on the second quick coupler 35, the posture of the implement connected to the second quick coupler 35 can be adjusted to facilitate work.

[0149] The second implement drive cylinder 55 is configured to drive the second quick coupler 35 to realize luffing motion in the luffing plane. The luffing of the second implement assembly connected to the second quick coupler 35 has two actions of implement inboard folding FJ1 and implement outboard folding FJ2.

[0150] The hydraulic shear 36 includes a second support frame 361 and a shearing mechanism 362, the second support frame 361 is connected to the second quick coupler 35, and the shearing mechanism 362 is rotatably mounted on the second support frame 361 and can realize opening and closing actions. The rotation of the hydraulic shear 36 has two actions of implement left turning FX1 and implement right turning FX2. The opening and closing of the hydraulic shear 36 has two actions of implement closing FK1 and implement opening FK2.

[0151] Reference Figure 5 and Figure 6 In some embodiments, the rescue work system further includes a second sensor group 70 and a controller 80, the second sensor group 70 includes a rotation inclination sensor 71, a deflection inclination sensor 72, a second boom inclination sensor 73, a second boom inclination sensor 74, a hydraulic shear inclination sensor 75, a hydraulic shear rotation encoder 76, and a hydraulic shear opening and closing sensor 77.

[0152] The rotation inclination sensor 71 is arranged on the rotating body 31. The deflection inclination sensor 72 is arranged on the deflection body 32. The second boom inclination sensor 73 is arranged on the second boom 33. The second boom inclination sensor 74 is arranged on the boom 34. The hydraulic shear inclination sensor 75 is arranged on the second quick coupler 35. The hydraulic shear rotation encoder 76 is arranged on the second support frame 361. The hydraulic shear opening and closing sensor 77 is arranged on the shearing mechanism 362.

[0153] The controller 80 is in signal connection with the second sensor group 70, and is configured to determine the movement posture of the sub-boom assembly 30 according to the acquired position information of each movement component in the sub-boom assembly 30. Here, each sensor in the second sensor group 70 respectively monitors the position information of each movement component at its setting position, and feeds back to the controller 80 in real time.

[0154] Figure 8 is a structural schematic diagram of a platform assembly in an embodiment of a rescue operation system according to the present disclosure. Referring to Figure 2 and Figure 8 In some embodiments, the rescue operation system further comprises a first driving assembly 40 and a second driving assembly 50, and the platform assembly 10 comprises a platform structure 11 and a mounting bracket 14. The platform structure 11 is provided with a boom cylinder seat 12 and a rotating mounting seat 13. The mounting bracket 14 is fixedly connected with the platform structure 11, and is provided with a rotating cylinder seat 15.

[0155] The main boom assembly 20 comprises a first boom 21 hinged with the mounting bracket 14, the sub-boom assembly 30 comprises a rotating body 31 arranged at the rotating mounting seat 13, the first driving assembly 40 comprises a first boom driving cylinder 41, a first end of the first boom driving cylinder 41 is hinged with the boom cylinder seat 12, and a second end thereof is hinged with the first boom 21, and the second driving assembly 50 comprises a rotating cylinder 51, a first end of the rotating cylinder 51 is hinged with the rotating cylinder seat 15, and a second end thereof is hinged with the rotating body 31.

[0156] The platform structure 11 and the mounting bracket 14 connect the first boom driving cylinder 41, the rotating body 31 and the rotating cylinder 51 through the boom cylinder seat 12, the rotating mounting seat 13 and the rotating cylinder seat 15, so that the huge load received by the main boom assembly 20 and the sub-boom assembly 30 can be decomposed to different bearing points on different platform assemblies 10, and stress is avoided from being excessively concentrated in a local position, thereby being beneficial to improving rigidity and stability.

[0157] Referring to Figure 8 In some embodiments, the first boom driving cylinder 41 is located at a lower side of a hinged shaft 141 of the first boom 21 and the mounting bracket 14, and a second end of the first boom driving cylinder 41 is hinged with a root of the first boom 21.

[0158] As shown in Figure 8 The hinged shaft 141 is arranged at a higher position of the mounting bracket 14, and a hollow portion 142 of the mounting bracket 14 can be arranged below the hinged shaft 141, and a part of the first boom driving cylinder 41 can pass through the hollow portion 142.

[0159] Therefore, the first boom driving oil cylinder 41 adopts a bottom arrangement type and can be hidden inside the platform, so as to release the operation space of the front side of the first boom 21 and protect the first boom driving oil cylinder 41 from damage caused by the external environment during operation.

[0160] Figure 9 is a schematic view of the mounting structure of the handle assembly in the rescue operation system according to the present disclosure. Referring to Figure 9 In some embodiments, the rescue operation system further comprises a first handle assembly 91 and a second handle assembly 92. The first handle assembly 91 has a plurality of first operation parts, the number of which is equal to the sum of the degrees of freedom of movement of the sub-boom assembly 30, and the operation of each first operation part corresponds to each action realized by the sub-boom assembly 30. The second handle assembly 92 has a plurality of second operation parts, the number of which is equal to the sum of the degrees of freedom of movement of the main-boom assembly 20 and the platform assembly 10, and the operation of each second operation part corresponds to the rotation action of the platform assembly 10 and each action realized by the main-boom assembly 20.

[0161] In complex rescue operation scenarios, the platform assembly 10, the main-boom assembly 20 and the sub-boom assembly 30 can realize actions with multiple degrees of freedom, which accordingly increases the difficulty of control. In the present embodiment, the control of multiple actions of the main-boom assembly 20 and the sub-boom assembly 30 is integrated into the plurality of operation parts of the two handle assemblies respectively, which simplifies the operation difficulty of the operator.

[0162] Referring to Figure 9 In some embodiments, the rescue operation system further comprises an operator seat 93. The first handle assembly 91 and the second handle assembly 92 are respectively located on the left and right sides of the operator seat 93.

[0163] The operator seat 93 can be arranged on the floor in the cab or control room of the rescue operation device, and armrest boxes can be arranged on the left and right sides thereof, and the handle assemblies can be mounted on the armrest boxes. As shown in Figure 9 The first handle assembly 91 can be mounted on the left armrest box 95, and the second handle assembly 92 can be mounted on the right armrest box 96. Accordingly, the left and right positional relationship of the first handle assembly 91 and the second handle assembly 92 can be consistent with the left and right relationship of the sub-boom assembly 30 and the main-boom assembly 20, so as to facilitate the operator to operate more conveniently.

[0164] This arrangement of the handle assembly replaces the conventional handle mounting position in related technologies with a master-slave handle, which facilitates improvement and manufacturing on existing products, makes production organization easier, and does not require a large investment in mold costs. At the same time, it is made into an interchangeable structure. When using a single arm, the entire auxiliary boom assembly can be removed and the operating handle can be replaced with a conventional handle, thereby greatly expanding the applicability of the equipment.

[0165] Figure 10 This is a structural schematic diagram of the first handle assembly and the second handle assembly according to an embodiment of the rescue operation system disclosed herein. Figure 11 This is an operational schematic diagram of the first handle assembly according to an embodiment of the rescue operation system disclosed herein. Figure 12 This is an operational schematic diagram of the second handle assembly according to an embodiment of the rescue operation system disclosed herein.

[0166] like Figure 10 (a) and Figure 11 As shown, the first handle assembly 91 is assembled from a base L1, a rotating seat L2, a first lever L3, a second lever L4, a third lever L5, a fourth lever L6, a knob L7, and a button L8. The base L1 is bolted to the left armrest box 95. The rotating seat L2 has two operations: left rotation (L2-1) and right rotation (L2-2). The first lever L3 has two operations: downward tilt (L3-1) and upward tilt (L3-2). The second lever L4 has two operations: downward tilt (L4-1) and upward tilt (L4-2). The third lever L5 has two operations: downward tilt (L5-1) and upward tilt (L5-2). The fourth lever L6 has two operations: downward tilt (L6-1) and upward tilt (L6-2). The knob L7 has two operations: left rotation (L7-1) and right rotation (L7-2). The button L8 has two buttons: closed (L8-1) and open (L8-2). The first handle assembly 91 is used to control the secondary boom assembly 30, and each operating function corresponds to a degree of freedom of the boom.

[0167] like Figure 10 (b) and Figure 12As shown, the second handle assembly 92 is assembled by a base R1, a rotating seat R2, a first lever R3, a second lever R4, a third lever R5, a fourth lever R6, a knob R7, and a button R8. The base R1 is mounted on the right armrest box 96 by bolts, the rotating seat R2 has two operations of left rotation R2-1 and right rotation R2-2, the first lever R3 has two operations of downward R3-1 and upward R3-2, the second lever R4 has two operations of downward R4-1 and upward R4-2, the third lever R5 has two operations of downward R5-1 and upward R5-2, the fourth lever R6 has two operations of downward R6-1 and upward R6-2, the knob R7 has two operations of left rotation R7-1 and right rotation R7-2, and the button R8 has two buttons of closing R8-1 and opening R8-2. The second handle assembly 92 is used to control the platform assembly 10 and the main arm support assembly 20, and each operation function corresponds to the rotation freedom and the arm support freedom of the platform assembly 10.

[0168] The handle action corresponds to the arm support action one by one, which is more intuitive and simple, and is convenient for the operator to be familiar with and master, thereby greatly reducing the operation difficulty.

[0169] Reference Figure 2 In some embodiments, the rescue operation system further comprises a platform rotating encoder 17, a first sensor group 60, a second sensor group 70, a first driving assembly 40, and a second driving assembly 50, and a controller 80. The first sensor group 60, the second sensor group 70, the first driving assembly 40, and the second driving assembly 50 are the same as those in the foregoing embodiments, and will not be described herein.

[0170] The platform rotating encoder 17 is arranged on the platform assembly 10 and is configured to detect the rotation position information of the platform assembly 10. The first sensor group 60 is configured to detect the position information of each moving part in the main arm support assembly 20. The second sensor group 70 is configured to detect the position information of each moving part in the auxiliary arm support assembly 30. The first driving assembly 40 comprises a plurality of driving members respectively driving the movements of each moving part in the main arm support assembly 20. The second driving assembly 50 comprises a plurality of driving members respectively driving the movements of each moving part in the auxiliary arm support assembly 30.

[0171] The controller 80 is in signal connection with the platform rotating encoder 17, the first sensor group 60, the second sensor group 70, the first driving assembly 40, and the second driving assembly 50, and is configured to determine the movement postures of the main arm support assembly 20 and the auxiliary arm support assembly 30, determine whether there is a collision risk between the main arm support assembly 20 and the auxiliary arm support assembly 30, and stop the driving of the driving members corresponding to the moving parts with the collision risk in the first driving assembly 40 and the second driving assembly 50 when it is determined that there is a collision risk.

[0172] When it is determined that there is a collision risk, even if the operator still operates the handle, the controller can cut off the control signal of the corresponding driving member through the built-in safety control logic, so that the corresponding action is terminated, and the collision is prevented, thereby effectively improving the safety.

[0173] Figure 13 is a schematic diagram of information transmission between various modules in the rescue operation system embodiment according to the present disclosure. Various parts in the rescue operation system embodiment can be embodied in the module framework shown in Figure 13 The first handle assembly and the second handle assembly form an operation module; the electromagnetic valves of each driving member in the first driving assembly and the second driving assembly form a driving module; the controller can adopt the vehicle ECU, which can send corresponding control signals to each electromagnetic valve in the driving module as a control module; the slewing platform and each component of the main arm assembly and the auxiliary arm assembly form an execution module, the actions of which can be realized according to the opening and closing of the corresponding electromagnetic valves in the control module; the platform rotation encoder and each sensor in the first sensor group and the second sensor group form a detection module, which can detect the actions of the slewing platform and each component of the main arm assembly and the auxiliary arm assembly, respectively, and transmit them to the vehicle ECU.

[0174] The operation module can transmit the operator's intention to the control module through the handle action; the control module collects the operation handle and sensor signals, and sends instructions to the driving module through the built-in program; after receiving the ECU signal, the corresponding electromagnetic valve of the driving module is opened, and the high-pressure oil flows into the execution module through the valve body to drive the execution module to act; the execution module drives the corresponding oil cylinder to move to realize the operation requirements of the operator; the detection module is used to detect the motion posture of the slewing platform, the main arm assembly and the auxiliary arm assembly, and feed back the information to the vehicle ECU, which is used to judge whether there is a collision risk between the two arms, and when a collision risk occurs, even if the operator still operates the handle, the vehicle ECU will cut off the signal of a certain electromagnetic valve group through the built-in safety control logic, so that a certain action of the arm is terminated to prevent the collision.

[0175] The rescue operation system of each embodiment described above can be applied to various rescue operation machines.

[0176] Figure 14 is a flowchart of some embodiments of the control method of the rescue operation system according to the present disclosure. Referring to Figure 14 The present disclosure also provides a control method of the foregoing rescue operation system. The control method comprises steps S1-S3. Steps S1-S3 can be executed by running program instructions of the local controller, or can be executed by receiving control instructions transmitted by the remote control platform or the remote control signal by the controller.

[0177] In step S1, the rotary position information of the platform assembly is detected by a platform rotary encoder, the position information of each moving part in the main boom assembly is detected by a first sensor group, and the position information of each moving part in the auxiliary boom assembly is detected by a second sensor group.

[0178] In step S2, the motion postures of the main boom assembly and the auxiliary boom assembly are determined according to the detection data of the platform rotary encoder, the first sensor group and the second sensor group.

[0179] In step S3, whether there is a collision risk of the main boom assembly and the auxiliary boom assembly is determined according to the motion postures of the main boom assembly and the auxiliary boom assembly, and when it is determined that there is a collision risk, the driving of the driving part corresponding to the moving part with the collision risk in the first driving assembly and the second driving assembly is stopped.

[0180] According to at least one of the foregoing embodiments, the embodiments of the present disclosure have at least one of the following technical effects:

[0181] The master-slave control handle is adopted, the handle degrees of freedom correspond to the main and auxiliary arms one by one, the single-handle control function is expanded, and the operator is easy to understand. The main and auxiliary arms are respectively operated by the left and right master-slave control handles, the overall arrangement type of the cab is the same as that of the conventional machine, and the production is easy to organize. Moreover, the operation part of the handle can be expanded according to the number of arm assembly degrees of freedom, thereby improving the convenience of operation.

[0182] In view of the collision problem that may occur in the dual-arm movement and collaborative operation, the sensors are arranged on each moving part, the arm posture can be detected in real time, and the collision monitoring and collision intervention can be realized through the preset anti-collision control logic, so that the dual-arm collision risk caused by the operator's misoperation can be effectively reduced, and the reliability of the equipment is improved.

[0183] Through the multi-degree-of-freedom rescue operation system, various collaborative operation modes can be carried out according to the operation scene, the limitations of single-arm equipment operation are effectively solved, and the rescue efficiency is greatly improved.

[0184] Thus far, the embodiments of the present disclosure have been described in detail. In order to avoid obscuring the concept of the present disclosure, some details known in the art are not described. Those skilled in the art can fully understand how to implement the technical solutions disclosed herein according to the above description.

[0185] Although some specific embodiments of the present disclosure have been described in detail through examples, those skilled in the art should understand that the above examples are only for illustration, and are not intended to limit the scope of the present disclosure. Those skilled in the art should understand that the above embodiments can be modified or some technical features can be replaced equivalently without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A rescue operation system, characterized in that, include: A platform component that can rotate horizontally (10); The main boom assembly (20) is hinged to a first portion (P1) of the platform assembly (10) and is capable of luffing relative to the platform assembly (10) in the pitch plane; and The secondary boom assembly (30) is rotatably connected to the second part (P2) of the platform assembly (10) and is capable of rotating relative to the platform assembly (10) in a horizontal plane of rotation; The first part (P1) and the second part (P2) are located on the same side of the platform component (10) along the first direction (x) and are arranged at intervals along the second direction (y), wherein the first direction (x) and the second direction (y) intersect.

2. The rescue operation system according to claim 1, characterized in that, Both the first direction (x) and the second direction (y) are parallel to the horizontal rotation plane.

3. The rescue operation system according to claim 1, characterized in that, It also includes a first drive component (40) and a second drive component (50); the platform component (10) includes: The platform structure (11) includes a boom cylinder seat (12) and a swivel mounting base (13); and Mounting bracket (14) is fixedly connected to the platform structure (11) and is provided with a rotating cylinder seat (15). The main boom assembly (20) includes a first boom (21) hinged to the mounting frame (14), the auxiliary boom assembly (30) includes a rotating body (31) disposed on the rotating mounting base (13), the first drive assembly (40) includes a first boom drive cylinder (41), the first end of the first boom drive cylinder (41) is hinged to the boom cylinder seat (12), and the second end is hinged to the first boom (21), the second drive assembly (50) includes a rotary cylinder (51), the first end of the rotary cylinder (51) is hinged to the rotary cylinder seat (15), and the second end is hinged to the rotating body (31).

4. The rescue operation system according to claim 3, characterized in that, The first boom drive cylinder (41) is located on the lower side of the hinge shaft (141) between the first boom (21) and the mounting bracket (14), and the second end of the first boom drive cylinder (41) is hinged to the root of the first boom (21).

5. The rescue operation system according to claim 1, characterized in that, The main boom assembly (20) adopts a telescopic excavator boom structure and is configured to operate independently or in conjunction with the auxiliary boom assembly (30).

6. The rescue operation system according to claim 5, characterized in that, The main boom assembly (20) includes: First boom (21); and The telescopic boom assembly (22), hinged to the first boom (21), includes a boom sleeve (221) and a telescopic boom (222) telescopically located within the boom sleeve (221), the end of which is provided with a first tool assembly; The rescue operation system further includes a first drive component (40), which comprises: The first boom drive cylinder (41) is driven to the first boom (21) and is configured to drive the first boom (21) to achieve luffing motion in the pitch plane; The first boom drive cylinder (42), with one end hinged to the first boom (21) and the other end drively connected to the telescopic boom assembly (22), is configured to drive the telescopic boom assembly (22) to achieve luffing motion in the pitch plane; and The telescopic cylinder (43), which is drivenly connected to the telescopic boom assembly (22), is configured to drive the telescopic boom assembly (22) to extend and retract, so as to adjust the position of the first implement assembly in the length direction of the telescopic boom assembly (22).

7. The rescue operation system according to claim 6, characterized in that, The main boom assembly (20) also includes a first link (23) and a second link (24). One end of the first link (23) is hinged to the first boom (21), and the other end is hinged to the middle of the second link (24). One end of the second link (24) is hinged to the stick sleeve (221), and the other end is hinged to the first stick drive cylinder (42). The first link (23), the second link (24), the first boom (21), and the stick sleeve (221) form a four-bar linkage assembly.

8. The rescue operation system according to claim 6, characterized in that, The first implement assembly includes a grab bucket device (26) and a first quick-change connector (25). The first drive assembly (40) further includes a first implement drive cylinder (44). The first quick-change connector (25) is hinged to the end of the telescopic boom (222). The first implement drive cylinder (44) is mounted on the telescopic boom (222) and drivenly connected to the first quick-change connector (25). The first implement drive cylinder (44) is configured to drive the first quick-change connector (25) to achieve a variable amplitude movement in the pitch plane. The grab bucket device (26) includes a first support frame (261) and a grab petal assembly (262). The first support frame (261) is connected to the first quick-change connector (25). The grab petal assembly (262) is rotatably mounted on the first support frame (261) and can achieve opening and closing actions.

9. The rescue operation system according to claim 8, characterized in that, It also includes a first sensor group (60) and a controller (80), the first sensor group (60) comprising: The first boom tilt sensor (61) is mounted on the first boom (21); The first stick tilt sensor (62) is mounted on the stick sleeve (221); A pull-wire sensor (63) is disposed between the telescopic boom (222) and the boom sleeve (221); The grab tilt sensor (64) is mounted on the first quick-connect joint (25); A grab bucket rotary encoder (65) is mounted on the first support frame (261); and A grab opening / closing sensor (66) is mounted on the grab flap assembly (262); The controller (80) is connected to the first sensor group (60) and is configured to determine the motion posture of the main boom assembly (20) based on the position information of each moving part in the main boom assembly (20).

10. The rescue operation system according to claim 1 or 5, characterized in that, The secondary boom assembly (30) adopts a flexible collaborative boom structure and is configured to operate independently or in collaboration with the main boom assembly (20).

11. The rescue operation system according to claim 10, characterized in that, The secondary boom assembly (30) includes: A rotating body (31) is disposed on the platform assembly (10); The deflector (32) is rotatably connected to the rotating body (31); The second boom (33) is hinged to the deflector (32); and The stick (34) is hinged to the second boom (33), and a second tool assembly is provided at the end of the stick (34); The rescue operation system further includes a second drive component (50), which includes: A rotary cylinder (51), drivenly connected to the rotating body (31), is configured to drive the rotating body (31) to rotate horizontally relative to the platform assembly (10); A deflection cylinder (52), drivenly connected to the deflector (32), is configured to drive the deflector (32) to deflect left and right relative to the platform assembly (10); The second boom drive cylinder (53), drivenly connected to the second boom (33), is configured to drive the second boom (33) to achieve luffing motion in the pitch plane; and The second stick drive cylinder (54) is hinged at one end to the second boom (33) and driven at the other end to the stick (34), and is configured to drive the stick (34) to achieve luffing motion in the pitch plane.

12. The rescue operation system according to claim 11, characterized in that, The second tool assembly includes a hydraulic shearing device (36) and a second quick-change connector (35). The second drive assembly (50) also includes a second tool drive cylinder (55). The second quick-change connector (35) is hinged to the end of the boom (34). The second tool drive cylinder (55) is mounted on the boom (34) and drivenly connected to the second quick-change connector (35). The second tool drive cylinder (55) is configured to drive the second quick-change connector to achieve luffing motion in the pitch plane. The hydraulic shearing device (36) includes a second support frame (361) and a shearing mechanism (362). The second support frame (361) is connected to the second quick-change connector (35). The shearing mechanism (362) is rotatably mounted on the second support frame (361) and can perform opening and closing actions.

13. The rescue operation system according to claim 12, characterized in that, It also includes a second sensor group (70) and a controller (80), the second sensor group (70) comprising: A tilt sensor (71) is mounted on the rotating body (31); A tilt sensor (72) is mounted on the deflector (32); The second boom tilt sensor (73) is mounted on the second boom (33); The second boom tilt sensor (74) is mounted on the boom (34); A hydraulic shear tilt sensor (75) is mounted on the second quick-connect joint (35); A hydraulic shear rotary encoder (76) is mounted on the second support frame (361); and A hydraulic shearing opening and closing sensor (77) is mounted on the shearing mechanism (362); The controller (80) is connected to the second sensor group (70) and is configured to determine the motion posture of the sub-boom assembly (30) based on the position information of each moving part in the sub-boom assembly (30).

14. The rescue operation system according to claim 1, characterized in that, Also includes: The first handle assembly (91) has a plurality of first operating parts, the number of which is equal to the sum of the degrees of freedom of the sub-boom assembly (30), and the operation of each first operating part corresponds one-to-one with each action performed by the sub-boom assembly (30); and The second handle assembly (92) has a plurality of second operating parts, the number of which is equal to the sum of the degrees of freedom of motion of the main boom assembly (20) and the platform assembly (10). The operation of each second operating part corresponds one-to-one with the rotation of the platform assembly (10) and the various actions performed by the main boom assembly (20).

15. The rescue operation system according to claim 14, characterized in that, Also includes: Operator's seat (93); The first handle assembly (91) and the second handle assembly (92) are located on the left and right sides of the operator seat (93), respectively.

16. The rescue operation system according to claim 1, characterized in that, Also includes: A platform rotary encoder (17) is disposed on the platform component (10) and configured to detect the rotational position information of the platform component (10); The first sensor group (60) is configured to detect the position information of each moving part in the main boom assembly (20); The second sensor group (70) is configured to detect the position information of each moving part in the sub-boom assembly (30); The first drive assembly (40) includes multiple drive components that drive the movement of each moving part in the main boom assembly (20); The second drive assembly (50) includes multiple drive components that drive the movement of each moving part in the sub boom assembly (30); and The controller (80), which is signal-connected to the platform rotary encoder (17), the first sensor group (60), the second sensor group (70), the first drive assembly (40), and the second drive assembly (50), is configured to determine whether there is a collision risk between the main boom assembly (20) and the auxiliary boom assembly (30) based on the determined motion posture of the main boom assembly (20) and the auxiliary boom assembly (30), and, when a collision risk is determined, to stop the drive of the drive component in the first drive assembly (40) and the second drive assembly (50) corresponding to the moving part with the collision risk.

17. A control method for a rescue operation system according to claim 16, characterized in that, include: The platform rotary encoder detects the rotational position information of the platform components, the first sensor group detects the position information of each moving part in the main boom assembly, and the second sensor group detects the position information of each moving part in the auxiliary boom assembly. The motion posture of the main boom assembly and the auxiliary boom assembly is determined based on the detection data from the platform rotary encoder, the first sensor group, and the second sensor group. Based on the motion posture of the main boom assembly and the auxiliary boom assembly, determine whether there is a collision risk. If a collision risk is determined, stop driving the drive component corresponding to the moving part with the collision risk in the first drive assembly and the second drive assembly.

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