This article studies the influence of structural parameters of the optimization model for the gas–liquid mixing device of a fire truck (compressed air foam lift fire truck, model JP21/G2, made in China) on the liquid phase volume fraction, static pressure, velocity streamline, and the influence of smaller flow rates on the mixing effect. By using the computational fluid dynamics (CFD) software FLUENT 2021 R2, numerical simulations were conducted on the fluid domain model of the gas–liquid mixing device of the JP21/G2 fire truck. The changes in the mixing effect time dimension, liquid phase volume fraction, static pressure, and velocity streamline inside the gas–liquid mixing device were obtained. The optimal mixer structure combination in practical applications was inferred through orthogonal experiments, and the influence of flow rate on the optimal pipe diameter and shortest mixing distance was obtained through variable flow rate simulation experiments. The numerical simulation results show that the presence of bent pipes in the JP21/G2 real vehicle model hinders the gas–liquid mixing process. A straight pipe section of at least 8 m was added after the bent pipe to ensure the mixing effect. The optimal parameter combination for orthogonal experiments had an accurate value of 50°-50°-220 mm. Under the same pipe diameter, using a larger flow rate can achieve better mixing effects.