华南理工大学学报（自然科学版）2025，Vol.53Issue(5)：11-19,9.DOI:10.12141/j.issn.1000-565X.240408
一种可实现位姿自由调整的应急救援机器人属具快换装置
A Quick Coupling Device with Free Posture Adjustment Used for Emergency Rescue Robot Attachments
摘要
Abstract
Due to its single function and low flexibility,the existing emergency rescue equipment is difficult to meet the requirements of complex emergency operations under geological disasters such as earthquake.To solve this problem,an electromechanical hydraulic quick coupling device,which can realize fast change of attachments and free adjustment of posture,is designed.The device can be quickly integrated into emergency rescue equipment to complete high-mobility and multi-function rescue tasks.In the investigation,first,the extreme load characteris-tics,as well as the stress and strain situations during the operation of the device are simulated and analyzed,through which the weak part and load spectrum are determined.Then,the reliability theoretical models considering cyclic damage strength degradation under deterministic and random periodic stress are deduced and established,and the mapping relationship between the reliability and the failure rate of the rotating mechanism is determined.Further-more,based on linear elastic fracture mechanics,the crack propagation of the weak part of inclined oil cylinder's piston rod is analyzed,and the fatigue life of the device is determined via the local stress strain method to ensure that the device can meet the application requirements.Finally,the developed device is integrated into the walking rescue robot.Test results show that the proposed quick coupling device can realize the rapid switching of various at-tachments such as bucket and gripper,with a switching time of less than 15 s,as well as the increases by±40° yaw and±360° rotation degrees of freedom,thus meeting the requirements of flexible operation.This research provides theoretical reference for the design of similar devices.关键词
应急救援/快换装置/可靠性/裂纹扩展/疲劳寿命Key words
emergency rescue/quick coupling device/reliability/crack propagation/fatigue life分类
建筑与水利引用本文复制引用
李伟,刘嘉晨,张伟源,黄日红,白晶,姜潮..一种可实现位姿自由调整的应急救援机器人属具快换装置[J].华南理工大学学报（自然科学版）,2025,53(5):11-19,9.基金项目
国家重点研发计划项目(2020YFC1512103) （2020YFC1512103）
湖南大学整车先进设计制造技术全国重点实验室自主研究项目(72275005) Supported by the National Key Research and Development Program of China(2020YFC1512103) （72275005）
