Based on the special working environment of emergency rescue robots,this thesis studied the automatic replacement technology ofthe robot tool head,and designed a quick change device in which the male head of the quick change device is connected to the end of the robot arm,and the female head is connected to the end of the robot arm.Through this quick-change device,the automatic replacement task of the tool head can be completed by remote control,which is of great significance for improving the safety and efficiency of the emergency rescue robot.The specific research in this thesis is as follows:(1)This article takes the BROOK robot as the research object,fully understands the docking principle of the quick-change device,the structure of the locking device,and how to realize the function of oil and liquid connection of the tool head;Design indicators,the overall structure of the quick-change device is designed,and its three-dimensional model is drawn with UG to analyze the feasibility of its structure;Due to the specific functional requirements of the quick-change device itself,key components such as motors are theoretically analyzed and selected.(2)In order to improve the dressing efficiency and avoid stutteringduring docking,this thesis studies the tolerance capabilities of the position and attitude of the quick-change device,lists the geometric conditions required for docking,and then uses the software to draw a pose tolerance map The maximum tolerance range between the male and female heads of the quick-change device is obtained.Finally,ADAMS was used to simulate the docking process of the quick-change device.(3)In order to verify the performance of the quick-change device under actual working conditions,this thesis takes the excavation condition as the research target to perform a static strength analysis on the quick-change device.Firstly,the mechanical model of the whole machine is established for the robot of emergency snatching operation,and then the mechanical model of the fast changing device is established;then use ABAQUS finite element software to perform a mechanical analysis of the quick-change device,and finally obtain the stress and strain cloud diagram of the quick-change device,and then verify the static strength of the quick-change device.(4)Taking the working conditions of the hydraulic impact hammer as the goal,this thesis studies the dynamic characteristics of the quickchange device,lists the vibration mechanical equations of the quickchange device,and then uses ABAQUS to perform a modal analysis on the quick-change device to obtain its inherent characteristics.Frequency to verify the rationality of the structure;finally,the modal dynamicsanalysis of the quick-change device was performed using finite element software,and the curve of the stress at time at the maximum stress and the maximum strain cloud diagram were obtained,thereby the dynamic strength of the quick-change device verified.This thesis designs a quick-change device for an emergency rescue robot that meets the requirements of the work.This device has good versatility,and because the components that are electrically and hydraulically connected are installed on the surface of the quick-change device,it is largely protected from being affected.The damage caused by large loads provides a basis for the follow-up research of the quickchange device. |