A Quick Coupling Device with Free Posture Adjustment Used for Emergency Rescue Robot Attachments

doi:10.12141/j.issn.1000-565X.240408

Abstract

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 characteristics, 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. Furthermore, 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 attachments 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.

Key words: emergency rescue, quick coupling device, reliability, crack propagation, fatigue life

CLC Number:

TU69

LI Wei, LIU Jiachen, ZHANG Weiyuan, HUANG Rihong, BAI Jing, JIANG Chao. A Quick Coupling Device with Free Posture Adjustment Used for Emergency Rescue Robot Attachments[J]. Journal of South China University of Technology(Natural Science Edition), 2025, 53(5): 11-19.

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钢材型号	弹性模量/GPa	泊松比	密度/ （g·cm^-3）	屈服极限/MPa	拉伸极限/MPa
Q345B	212	0.310	7.87	345	510
ZCuSn10P1	853	0.320	8.41	122	276
40Cr	211	0.277	7.87	805	940
42CrMo	212	0.280	7.85	1 047	1 134
45#	209	0.269	7.85	377	624

变量名称	符号	均值	标准差	单位	分布规律
修正系数	W	0.90	0.15		正态分布
蜗轮转矩	T	2 387.3	238.7	N·m
蜗杆分度圆直径	d₁	63	0.10	mm
蜗轮分度圆直径	d₂	304	0.17	mm

材料	疲劳强度系数	疲劳强度指数	疲劳延性系数	疲劳延性指数	循环强度系数/MPa	循环应变指数
42CrMo	1 177.0	-0.064 0	1.302 0	-0.727 0	1 110.0	0.083 0
40Cr	1 385.1	-0.078 9	0.380 9	-0.576 5	1 228.9	0.090 3
Q345B	947.1	-0.094 3	0.464 4	-0.539 5	1 164.8	0.187 1

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