Quick-change device and rescue equipment assembly

Abstract

This invention relates to the field of rapid switching devices and discloses a rapid switching device and a rescue equipment assembly. The rapid switching device includes a first connecting frame, a second connecting frame, a rotating assembly, and a swinging assembly. The first connecting frame is used to connect the rescue equipment, and the second connecting frame is used to connect attachments. The rotating assembly is used to drive the second connecting frame and attachments to rotate. The rotating assembly includes a rotating frame, a hydraulic motor, a worm gear, and a worm wheel. The hydraulic motor is fixed to the rotating frame, and the worm gear and worm wheel are rotatably mounted on the rotating frame. The hydraulic motor drives the worm gear to rotate, and the worm gear meshes with the worm wheel. The rotating frame is hinged to the first connecting frame, and the worm wheel is fixedly connected to the second connecting frame. The swinging assembly is used to drive the rotating assembly, the second connecting frame, and the attachments to swing. Compared with the prior art, the rapid switching device of this invention can realize the rotational movement and swinging motion of the attachments, thereby improving the rescue capability of the rescue equipment.

Description

Technical Field

[0001] This invention relates to the field of rapid switching device technology, and in particular to a rapid switching device and rescue equipment assembly. Background Technology

[0002] Rescue equipment can be equipped with different attachments via quick-change devices to perform various rescue operations. Existing quick-change devices (also known as quick-change devices, quick-change connectors, etc.) can be divided into two categories according to their product structure, function, and application: The first category has a simple structure and only has a switching function, also known as a regular quick-connect; the second category not only has a quick-change function but also increases the freedom of attachments, and is called a universal quick-change device or a multi-functional hydraulic wrist.

[0003] Currently, the application of the second type of rapid switching device is not widespread in China, and it is still in the market development stage. However, with the widespread use of hydraulic breakers, hydraulic shears, and hydraulic grabs in emergency rescue, the demand for this type of rapid switching device is becoming increasingly urgent. Summary of the Invention

[0004] The purpose of this invention is to provide a quick switching device and rescue equipment assembly for connecting rescue equipment and attachments, and realizing the rotational movement and swing of the attachments, so as to improve the rescue capability of the rescue equipment.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention discloses a fast switching device, comprising:

[0007] The first connecting frame for connecting rescue equipment;

[0008] Second connecting bracket for connecting attachments;

[0009] A rotary assembly for driving the rotation of the second connecting frame and the attachment, the rotary assembly including a rotary frame, a hydraulic motor, a worm gear, and a worm wheel; the hydraulic motor is fixed to the rotary frame, and the worm gear and the worm wheel are rotatably mounted on the rotary frame; the hydraulic motor drives the worm gear to rotate, and the worm gear meshes with the worm wheel; the rotary frame is hinged to the first connecting frame, and the worm wheel is fixedly connected to the second connecting frame;

[0010] A swing assembly for driving the slewing assembly, the second connecting frame, and the attachment to swing, the swing assembly including a swing cylinder; one of the first connecting frame and the slewing frame is hinged to the cylinder body of the swing cylinder, and the other is hinged to the piston rod of the swing cylinder.

[0011] Preferably, the second connecting frame includes a flange and a frame body, the flange being fixed to the frame body and the flange being fixedly connected to the worm gear.

[0012] Preferably, the second connecting frame further includes a sliding plate, a locking cylinder, a locking tongue, and a pin hook; the sliding plate is slidably mounted on the frame along a straight line; one of the frame and the sliding plate is hinged to the cylinder body of the locking cylinder, and the other is hinged to the piston rod of the locking cylinder, so as to drive the sliding plate to slide through the locking cylinder; the locking tongue is fixed on the sliding plate so that, driven by the sliding plate, the locking tongue can both avoid the first pin of the attachment and lock the first pin together with the first end of the frame; the pin hook is provided at the second end of the frame and is used to hook the second pin of the attachment, the second pin being parallel to the first pin.

[0013] Preferably, the second connecting frame further includes a positioning pin and a quick connector, both of which are fixed to the slide plate; the positioning pin is used to insert into the corresponding positioning hole on the attachment when the slide plate slides close to the first pin; one end of the quick connector is used to connect to the hydraulic line of the rescue equipment, and the other end of the quick connector is used to connect to the hydraulic line of the attachment when the slide plate slides close to the first pin.

[0014] Preferably, the worm gear includes a worm gear body and a central ring, the worm gear body and the central ring being fixedly connected; the rotating frame is provided with a through hole, the central ring and the through hole are fitted together, and the central ring can rotate within the through hole; a first side of the rotating frame slides against the central ring, and a second side of the rotating frame slides against the worm gear body, so as to limit the worm gear and the rotating frame to each other in the axial direction of the through hole.

[0015] Preferably, gaskets are provided between the first side of the rotary frame and the central ring, and between the second side of the rotary frame and the worm gear body.

[0016] Preferably, the swing cylinder comprises a plurality of cylinders, which are respectively located on both sides of the first connecting frame.

[0017] The present invention also discloses a rescue equipment assembly, including the above-mentioned quick switching device, and further including the rescue equipment and the attachments; the first connecting frame connects to the rescue equipment, and the second connecting frame connects to the attachments.

[0018] Preferably, the hydraulic control system of the rescue equipment assembly is connected to the locking cylinder, the hydraulic lines of the attachment, the hydraulic motor, and the swing cylinder, respectively.

[0019] Preferably, the attachment is equipped with an Apriltag QR code, and the rescue equipment is equipped with a monocular camera and an identification and positioning system;

[0020] The monocular camera is used to capture the Apriltag QR code and transmit the captured information to the identification and positioning system. The identification and positioning system is used to solve the trajectory information of different joints and send the data to the lower-level machine. The lower-level machine drives the rescue equipment and the quick switching device to operate through a corresponding program, so that the pin hook hooks the second pin of the attachment and the locking tongue locks the first pin together with the first end of the frame.

[0021] The present invention achieves the following technical effects compared to the prior art:

[0022] After the quick-switching device connects the rescue equipment and attachments respectively, the hydraulic motor starts, driving the worm gear to rotate, which in turn drives the second connecting frame and attachments to rotate together. When the swing cylinder is activated, it drives the rotary assembly to swing, which in turn drives the second connecting frame and attachments to swing. Therefore, the quick-switching device of this invention, after connecting the attachments, can also cause the attachments to rotate and swing, thereby improving the rescue capability of the rescue equipment.

[0023] In a preferred embodiment of the present invention, when the slide plate slides, the locking of the locking tongue, the alignment of the positioning pin, and the quick connection of the quick connector can be achieved simultaneously, thereby improving the assembly efficiency of the attachment.

[0024] In a preferred embodiment of the present invention, the Apriltag QR code, a monocular camera, and a recognition and positioning system are combined to further improve the assembly efficiency of the attachments through visual recognition. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of a fast switching device according to an embodiment of the present invention.

[0027] Figure 2 This is a cross-sectional view of the rotating assembly.

[0028] Figure 3 A schematic diagram showing one perspective of the second connecting frame.

[0029] Figure 4 This is another schematic diagram of the second connecting frame from different perspectives.

[0030] Figure 5 This is a schematic diagram of the first connecting frame.

[0031] Figure 6 This is another schematic diagram of the second connecting frame from different perspectives.

[0032] Figure 7 This is a schematic diagram of a hydraulic control system.

[0033] Figure 8 This is a schematic diagram of precise docking.

[0034] Figure 9 This is a diagram illustrating how a monocular camera captures Apriltag QR codes from different locations.

[0035] Figure 10 This is a schematic diagram of a fully automated assembly process.

[0036] Explanation of reference numerals in the attached drawings: 1-First connecting frame; 2-Second connecting frame; 3-Rotating assembly; 4-Swinging assembly; 5-Hydraulic control system; 6-Attachment; 7-Monocular camera.

[0037] 11-Connecting pin; 12-Second side plate; 13-Connecting plate; 14-Pin sleeve; 15-Mounting seat; 20-Quick connector; 21-Flange; 22-First side plate; 23-Front end plate; 24-Rear end plate; 25-Slide plate; 26-Locking cylinder; 27-Locking tongue; 28-Pin hook; 29-Positioning pin; 31-Slewing frame; 32-Hydraulic motor; 33-Worm gear; 34-Worm wheel body; 35-Center ring; 36-Gasket; 41-Swing cylinder; 51-Three-position four-way hydraulic directional valve; 52-Pressure relief valve; 53-Two-position four-way solenoid directional valve; 54-Three-position four-way solenoid directional valve; 55-Three-position four-way solenoid proportional directional valve; 56-Shuttle valve; 57-Two-position three-way solenoid proportional directional valve; 58-Pedal valve; 61-Apriltag QR code. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] The purpose of this invention is to provide a quick switching device and rescue equipment assembly for connecting rescue equipment and attachments, and realizing the rotational movement and swing of the attachments, so as to improve the rescue capability of the rescue equipment.

[0040] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0041] Reference Figures 1-6 This embodiment provides a quick switching device, including a first connecting frame 1, a second connecting frame 2, a rotary assembly 3, and a swing assembly 4.

[0042] The first connecting frame 1 is used to connect rescue equipment, typically the end of the swing arm of the rescue equipment. The second connecting frame 2 is used to connect attachment 6, typically the pin of attachment 6. The rotating assembly 3 is used to drive the second connecting frame 2 and attachment 6 to rotate. The rotating assembly 3 includes a rotating frame 31, a hydraulic motor 32, a worm gear 33, and a worm wheel. The hydraulic motor 32 is fixed to the rotating frame 31, and the worm gear 33 and worm wheel are rotatably mounted on the rotating frame 31. The hydraulic motor 32 drives the worm gear 33 to rotate, and the worm gear 33 meshes with the worm wheel. The rotating frame 31 is hinged to the first connecting frame 1, and the worm wheel is fixedly connected to the second connecting frame 2. The swing assembly 4 is used to drive the rotating assembly 3, the second connecting frame 2, and attachment 6 to swing. The swing assembly 4 includes a swing cylinder 41. One of the first connecting frame 1 and the rotating frame 31 is hinged to the cylinder body of the swing cylinder 41, and the other is hinged to the piston rod of the swing cylinder 41.

[0043] The working principle of the fast switching device in this embodiment is as follows:

[0044] After the quick-switching device connects the rescue equipment and attachment 6 respectively, the hydraulic motor 32 starts, driving the worm gear to rotate, which in turn drives the second connecting frame 2 and attachment 6 to rotate together. When the swing cylinder 41 is activated, it drives the rotary assembly 3 to swing, which in turn drives the second connecting frame 2 and attachment 6 to swing. Therefore, in this embodiment, after connecting attachment 6, the quick-switching device can also cause attachment 6 to rotate and swing, thereby improving the rescue capability of the rescue equipment.

[0045] As a possible example, in this embodiment, the second connecting frame 2 includes a flange 21 and a frame body, with the flange 21 fixed to the frame body. The flange 21 is fixedly connected to the worm gear, specifically by screws. The worm gear has a threaded hole corresponding to the screw, and the flange 21 has a screw hole for the screw to pass through.

[0046] As a possible example, in this embodiment, the second connecting frame 2 further includes a sliding plate 25, a locking cylinder 26, a locking tongue 27, and a pin hook 28. The sliding plate 25 is slidably mounted on the frame along a straight line. One of the frame and the sliding plate 25 is hinged to the cylinder body of the locking cylinder 26, and the other is hinged to the piston rod of the locking cylinder 26, so that the sliding plate 25 is driven to slide by the locking cylinder 26. The locking tongue 27 is fixed to the sliding plate 25 so that, driven by the sliding plate 25, the locking tongue 27 can both avoid the first pin of the attachment 6 and lock the first pin together with the first end of the frame. The pin hook 28 is provided at the second end of the frame and is used to hook the second pin of the attachment 6, which is parallel to the first pin. To improve the stability of the locking tongue 27, the frame is provided with a locking tongue mounting hole that mates with the locking tongue 27, and the locking tongue 27 slides along the locking tongue mounting hole.

[0047] When the second connecting frame 2 is not connected to the attachment 6, the locking tongue 27 is retracted within the frame body. When connecting the attachment 6 to the second connecting frame 2, the pin hook 28 at the second end of the frame body first hooks the second pin of the attachment 6. Then, the second connecting frame 2 rotates relative to the attachment 6, with the second pin as the center of rotation. When the first end of the frame body contacts or nearly contacts the first pin, the second connecting frame 2 stops rotating. At this time, the sliding plate 25 is driven to slide by the locking cylinder 26, causing the locking tongue 27 to extend. After the locking tongue 27 extends, the first pin is locked between the locking tongue 27 and the first end of the frame body. At this point, the connection between the attachment 6 and the second connecting frame 2 is complete.

[0048] Specifically, in this embodiment, the frame includes a first side plate 22, a front end plate 23, and a rear end plate 24. The front end plate 23 and the rear end plate 24 face each other. There are two first side plates 22, which face each other and are perpendicular to both the front end plate 23 and the rear end plate 24. The first side plate 22, the front end plate 23, and the rear end plate 24 form a square structure. The sliding plate 25 is always perpendicular to the first side plate 22 when sliding. The upper part of the first end of the first side plate 22 has a first protrusion, the locking tongue mounting hole is located at the lower part of the first end of the first side plate 22, and the pin hook 28 is located at the lower part of the second end of the first side plate 22.

[0049] As a possible example, in this embodiment, the second connecting frame 2 further includes a positioning pin 29 and a quick connector 20, both of which are fixed to the slide plate 25. The positioning pin 29 is used to insert into the corresponding positioning hole on the attachment 6 when the slide plate 25 slides close to the first pin. One end of the quick connector 20 is used to connect to the hydraulic line of the rescue equipment, and the other end of the quick connector 20 is used to connect to the hydraulic line of the attachment 6 when the slide plate 25 slides close to the first pin. Specifically, in this embodiment, the quick connector 20 is a male connector, used to connect to the female connector at the end of the hydraulic line of the attachment 6. Two positioning pins 29 and two quick connectors 20 are included.

[0050] As a possible example, in this embodiment, the worm gear includes a worm gear body 34 and a central ring 35, which are fixedly connected, specifically by screws. The rotating frame 31 has a through hole, and the central ring 35 is fitted into the through hole via a shaft-hole connection, allowing the central ring 35 to rotate within the through hole. A first side of the rotating frame 31 slides against the central ring 35, and a second side of the rotating frame 31 slides against the worm gear body 34, thereby limiting the worm gear and the rotating frame 31 to each other along the axial direction of the through hole.

[0051] In order to reduce the wear of the worm gear body 34, the central ring 35 and the rotating frame 31, in this embodiment, a shim 36 is provided between the first side of the rotating frame 31 and the central ring 35, and between the second side of the rotating frame 31 and the worm gear body 34, and the central ring 35 passes through the shim 36.

[0052] As one possible example, in this embodiment, the swing cylinder 41 includes multiple cylinders, which are respectively located on both sides of the first connecting frame 1. The multiple cylinders can be two or more.

[0053] As a possible example, in this embodiment, the first connecting frame 1 includes a connecting pin 11, a second side plate 12, a connecting plate 13, a pin sleeve 14, and a mounting base 15. Two second side plates 12 are arranged opposite each other, and their ends are connected by a connecting plate 13. Pin sleeves 14 are fixed on both second side plates 12, and the two ends of the connecting pin 11 are respectively press-fitted with the pin sleeves 14 on the two second side plates 12. Multiple connecting pins 11 are included for connecting to rescue equipment. Mounting bases 15 are fixed on both second side plates 12, and the mounting bases 15 are used to fix hinge seats. The cylinder body of the swing cylinder 41 is hinged to the hinge seat, and the piston rod of the swing cylinder 41 is hinged to the rotating frame 31.

[0054] Reference Figures 7-10 This embodiment also provides a rescue equipment assembly, including the quick-switching device described above, as well as rescue equipment and attachments 6. A first connecting frame 1 connects to the rescue equipment, and a second connecting frame 2 connects to the attachments 6. Since the rescue equipment assembly includes the quick-switching device, it also possesses the corresponding advantages of the quick-switching device, which will not be elaborated further here.

[0055] As a possible example, in this embodiment, the hydraulic system of the rescue equipment is connected to the locking cylinder 26, the hydraulic lines of the attachment 6, the hydraulic motor 32, and the swing cylinder 41, respectively. Specifically, the hydraulic control system 5 of the rescue equipment assembly includes a main hydraulic circuit, a main hydraulic circuit, a control hydraulic circuit, a first branch hydraulic circuit, a second branch hydraulic circuit, a third branch hydraulic circuit, and a fourth branch hydraulic circuit. The first end of the first branch hydraulic circuit is connected to the locking cylinder 26, and the second end is connected to the first end of the main hydraulic circuit. The first end of the second branch hydraulic circuit is connected to the hydraulic lines of the attachment 6, and the second end is connected to the first end of the main hydraulic circuit. The first end of the third branch hydraulic circuit is connected to the hydraulic motor 32, and the second end is connected to the first end of the main hydraulic circuit. The first end of the fourth branch hydraulic circuit is connected to the swing cylinder 41, and the second end is connected to the first end of the main hydraulic circuit. The second end of the main hydraulic circuit is connected to the main hydraulic circuit. That is, the first, second, third, and fourth branch hydraulic circuits are arranged in parallel. A three-position four-way hydraulic directional valve 51 and a pressure-reducing relief valve 52 are installed on the main oil circuit to control the main oil circuit's conduction and safety protection, respectively. A two-position four-way solenoid directional valve 53 is installed on the first branch oil circuit to switch the action of the locking cylinder 26. A three-position four-way solenoid directional valve 54 is installed on the second branch oil circuit to switch the action of the attachment 6. Three-position four-way solenoid proportional directional valves 55 are installed on the third and fourth branch oil circuits to realize the swing, rotation, and speed regulation of the attachment 6. The hydraulic control end of the three-position four-way hydraulic directional valve 51 is connected to the outlet of the shuttle valve 56 through a merging oil circuit. Each of the two inlets of the shuttle valve 56 is connected to the main oil circuit through a branch oil circuit. A two-position three-way solenoid proportional directional valve 57 and a pedal valve 58 are respectively installed on the two branch oil circuits. By controlling the action of the two-position three-way solenoid proportional directional valve 57 and the pedal valve 58, the three-position four-way hydraulic directional valve 51 can be controlled.

[0056] As a possible example, in this embodiment, the attachment 6 is equipped with an Apriltag QR code 61, and the rescue equipment is equipped with a monocular camera 7 and an identification and positioning system.

[0057] The monocular camera 7 is used to capture the Apriltag QR code 61 and transmit the captured information to the identification and positioning system. The identification and positioning system is used to solve the trajectory information of different joints and send the data to the lower computer. The lower computer drives the rescue equipment and the quick switching device to operate through the corresponding program so that the pin hook 28 hooks the second pin of the attachment 6 and the locking tongue 27 locks the first pin together with the first end of the frame.

[0058] In this embodiment, the connection between the second connecting frame 2 and the attachment 6 includes a semi-automatic docking process performed first, and a fully automatic assembly process performed later.

[0059] Semi-automatic docking is used to bring the second connecting frame 2 and the attachment 6 closer together, including a rough docking stage and a fine docking stage.

[0060] During the rough docking phase, the driver manipulates the rescue equipment's working arm to move until the Apriltag QR code 61 on the attachment 6 appears in the field of view of the monocular camera 7, which takes about 1.5 seconds.

[0061] Reference Figure 8 , Figure 9 During the precision docking phase, the monocular camera 7 on the forearm of the rescue equipment and the Apriltag QR code 61 and identification positioning system installed on the attachment 6 collect the position and pose information of the attachment 6. Combined with the corresponding program, the millimeter-level docking between the device and the attachment 6 is completed, which takes about 1.5 seconds. The main process is as follows:

[0062] First, images are read from the video stream and preprocessed into grayscale images, with noise smoothing and other processing performed. The gradient of image pixels is calculated, edge points are selected based on thresholds, and straight lines are fitted using the least squares method. Line segments are selected based on the principle of distance between adjacent edge start and end points and the principle of counterclockwise connection, and quadrilaterals are found based on principles such as depth traversal. The position and orientation of the QR code are calculated using the focal length of the monocular camera 7 and the effective size information of the QR code. Second, the QR code pose information is converted into a reference coordinate system through a corresponding program. After determining the pose information, a corresponding program is written, and the trajectory information of different joints is solved through a corresponding motion planner and kinematic solver. The data is then sent to the lower-level machine, where the rescue equipment is driven by a corresponding program to achieve precise docking control.

[0063] Compared to the 5-second docking phase in the prior art, the rescue equipment assembly in this embodiment can save docking time.

[0064] The fully automatic assembly process refers to the process in which the pin hook 28 hooks the second pin of the attachment 6, and the locking tongue 27 locks the first pin together with the first end of the frame.

[0065] Reference Figure 10 In this embodiment, the rescue equipment assembly is operated by buttons to execute a fixed program, and the fully automatic assembly is achieved by combining the position feedback from the identification and positioning system. The main process is as follows:

[0066] The fully automatic assembly of the second connecting frame 2 and the attachment 6 includes a second pin engagement stage, a first pin engagement stage, and a locking cylinder extension stage. After the operator presses the self-assembly button, the hydraulic wrist posture determined by the tilt sensor and the relative position information of the attachment 6 determined in the semi-automatic docking stage are used to control the working arm to complete the engagement of the pin hook 28 with the second pin. After engagement, the completion status is judged by the QR code position information, and the locking cylinder 26 is controlled by the corresponding program to achieve the engagement of the first end of the first side plate 22 with the first pin. The two engagements take a total of 3 seconds, which saves engagement time compared to the 5-second engagement time in the prior art.

[0067] Finally, after the engagement, the locking cylinder 26 extends, and the locking tongue 27 locks the first pin. At the same time, the positioning pin 29 on the slide plate 25 inserts into the corresponding positioning hole on the attachment 6. The quick connector 20 on the slide plate 25 is then connected to the hydraulic line of the attachment 6, completing the assembly of the second connecting frame 2 and the attachment 6. This process takes 1 second, which saves the time required for the locking tongue 27 to extend compared to the 2 seconds required in the prior art.

[0068] This specification uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A fast switching device, characterized by include: The first connecting frame for connecting rescue equipment; Second connecting bracket for connecting attachments; A rotary assembly for driving the rotation of the second connecting frame and the attachment, the rotary assembly including a rotary frame, a hydraulic motor, a worm gear, and a worm wheel; the hydraulic motor is fixed to the rotary frame, and the worm gear and the worm wheel are rotatably mounted on the rotary frame; the hydraulic motor drives the worm gear to rotate, and the worm gear meshes with the worm wheel; the rotary frame is hinged to the first connecting frame, and the worm wheel is fixedly connected to the second connecting frame; A swing assembly for driving the rotary assembly, the second connecting frame, and the attachment to swing, the swing assembly including a swing cylinder; one of the first connecting frame and the rotary frame is hinged to the cylinder body of the swing cylinder, and the other is hinged to the piston rod of the swing cylinder; The second connecting frame includes a flange and a frame body, the flange being fixed to the frame body and the flange being fixedly connected to the worm gear; The second connecting frame further includes a sliding plate, a locking cylinder, a locking tongue, and a pin hook; the sliding plate is slidably mounted on the frame along a straight line; one of the frame and the sliding plate is hinged to the cylinder body of the locking cylinder, and the other is hinged to the piston rod of the locking cylinder, so as to drive the sliding plate to slide through the locking cylinder; the locking tongue is fixed on the sliding plate so that, driven by the sliding plate, the locking tongue can both avoid the first pin of the attachment and lock the first pin together with the first end of the frame; the pin hook is provided at the second end of the frame and is used to hook the second pin of the attachment, the second pin being parallel to the first pin. The second connecting frame also includes a positioning pin and a quick connector, both of which are fixed to the slide plate. The positioning pin is used to insert into the corresponding positioning hole on the attachment when the slide plate slides close to the first pin. One end of the quick connector is used to connect to the hydraulic line of the rescue equipment, and the other end of the quick connector is used to connect to the hydraulic line of the attachment when the slide plate slides close to the first pin.

2. The fast switching device according to claim 1, characterized in that, The worm gear includes a worm gear body and a central ring, the worm gear body and the central ring being fixedly connected; the rotating frame is provided with a through hole, the central ring and the through hole are fitted together by a shaft hole, the central ring can rotate within the through hole; a first side of the rotating frame slides against the central ring, and a second side of the rotating frame slides against the worm gear body, so as to limit the worm gear and the rotating frame to each other in the axial direction of the through hole.

3. The fast switching device according to claim 2, characterized in that, Gaskets are provided between the first side of the rotary frame and the central ring, and between the second side of the rotary frame and the worm gear body.

4. The fast switching device according to claim 1, characterized in that, The swing cylinder includes multiple cylinders, which are respectively located on both sides of the first connecting frame.

5. A rescue equipment assembly, characterized in that, The device includes the rapid switching device as described in claim 1, and also includes the rescue equipment and the attachment; the first connecting frame connects to the rescue equipment, and the second connecting frame connects to the attachment.

6. The rescue equipment assembly according to claim 5, characterized in that, The hydraulic control system of the rescue equipment assembly is connected to the locking cylinder, the hydraulic lines of the attachment, the hydraulic motor, and the swing cylinder.

7. The rescue equipment assembly according to claim 5, characterized in that, The attachment is equipped with an Apriltag QR code, and the rescue equipment is equipped with a monocular camera and an identification and positioning system; The monocular camera is used to capture the Apriltag QR code and transmit the captured information to the identification and positioning system. The identification and positioning system is used to solve the trajectory information of different joints and send the data to the lower-level machine. The lower-level machine drives the rescue equipment and the quick switching device to operate through a corresponding program, so that the pin hook hooks the second pin of the attachment and the locking tongue locks the first pin together with the first end of the frame.

Images