Key Technologies in Large-scale Rescue Robot Wrists

摘要

The full-Automatic Quick Hitch Coupling Device (full-AQHCD for short) is used as the starting point, key technologies in a large-scale rescue robot wrist, which is constituted by integrating a quick hitch coupling device, a turning device, and a swaying device together, are reviewed respectively. Firstly, the semi-AQHCD made domestically for the main-Arm Claw Wrist (main-ACW for short) is introduced, and the full-AQHCD imported from Oil Quick company in Sweden for the vice-Arm Cutter Wrist (vice-ACW for short) is presented. Secondly, aiming at three key technologies in the full-AQHCD including rotary joint technology, automatic docking technology and precise docking technology for quick action coupling, are concisely expressed. Thirdly, the hydraulic motor driving gear type slewing bearing technology of the turning device made domestically for the main-ACW is introduced, and the hydraulic motor driving worm type slewing bearing technology of the turning device imported from HKS company in Germany for the vice-ACW is presented, especially, the existing gap in the similar domestic technology is discussed. Subsequently, the hydraulic cylinder driving 4-bar linkage technology of the swaying device made domestically for the main-ACW is introduced, and the hydraulic double spiral swing cylinder technology of the swaying device imported from HKS company in Germany for the vice-ACW is presented, especially, the existing gap in the similar domestic technology is discussed. Finally, it is emphasized that these technological gaps have seriously restricted the ability of the vice-ACW to successfully work in future actual rescue combats, therefore, it must be highly valued in the follow-up research and development (R&D) through cooperating with professional manufacturers in China, thereby making technological advances.