CN106621113B - Joint starting and supporting integrated accessory - Google Patents
Joint starting and supporting integrated accessory Download PDFInfo
- Publication number
- CN106621113B CN106621113B CN201510725575.4A CN201510725575A CN106621113B CN 106621113 B CN106621113 B CN 106621113B CN 201510725575 A CN201510725575 A CN 201510725575A CN 106621113 B CN106621113 B CN 106621113B
- Authority
- CN
- China
- Prior art keywords
- arm
- section arm
- finger
- section
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention belongs to the field of mechanical automation engineering, and particularly relates to an accessory integrating seam lifting and supporting, which comprises a shell part, a left top support mechanical arm system, a right top support mechanical arm system and a hydraulic seam lifting system, wherein the left top support mechanical arm system and the right top support mechanical arm system have the same structure and are symmetrically arranged on two sides of the shell part, and the hydraulic seam lifting system is arranged on the shell part and is positioned between the left top support mechanical arm system and the right top support mechanical arm system; the left and right top support mechanical arm systems comprise support blocks, finger driving hydraulic cylinders, finger mechanisms and multiple sections of arms which are sequentially connected, the finger driving hydraulic cylinders are installed on the last section of arm in the multiple sections of arms, the output ends of the support blocks are clamped through the finger mechanisms, the support blocks stretch out and draw back or swing through the driving of the multiple sections of arms to perform primary seam lifting, and the output ends of the hydraulic seam lifting systems are inserted into the primary seam lifting and abut against the support blocks to achieve secondary seam lifting. The invention can realize that rescue workers are far away from a rescue site and can realize the combination of seam starting and supporting functions.
Description
Technical Field
The invention belongs to the field of mechanical automation engineering, and particularly relates to an attachment integrating seam starting and supporting.
Background
The hydraulic hammer is used for various accessories on large engineering machinery, such as a crushing bucket, a crushing hammer, a hydraulic crusher, a timber grab, a stone grab, an inclined bucket, a hydraulic tamper, a scarifier and the like, and is mainly used for breaking and dismantling buildings. In earthquake rescue, seam support is very important operation, can provide safe operation space for rescue personnel, and provides safety guarantee for subsequent rescue. In the existing seam support operation, a seam robot is commonly used, but the existing seam robot can only adapt to the environment which is relatively easy to rescue, and can not be used in the environment which is difficult to rescue due to small output force. The accessory for the seam supporting operation is not reported at home and abroad at present. When the large-scale engineering machinery is applied to the joint supporting operation in earthquake rescue, corresponding accessories for the joint supporting operation need to be equipped.
Disclosure of Invention
The invention aims to solve the problems that an existing seam starting robot cannot adapt to different working environments, is small in output force and the like, and provides an attachment integrating seam starting and supporting. The accessory can realize multiple functions of large load, long distance and the like.
The purpose of the invention is realized by the following technical scheme:
the hydraulic seam-lifting device comprises a shell part, a left top-lifting mechanical arm system, a right top-lifting mechanical arm system and a hydraulic seam-lifting system, wherein the left top-lifting mechanical arm system and the right top-lifting mechanical arm system are identical in structure and symmetrically arranged on two sides of the shell part; the left top support mechanical arm system and the right top support mechanical arm system comprise support blocks, finger driving hydraulic cylinders, finger mechanisms and multiple sections of arms which are connected in sequence, the finger driving hydraulic cylinders are installed on the last section of arm in the multiple sections of arms, the output ends of the finger driving hydraulic cylinders are clamped through the finger mechanisms to support the support blocks, the support blocks are driven to stretch out and draw back or swing through the multiple sections of arms to perform primary seam lifting, the output ends of the hydraulic seam lifting systems are inserted into the primary seam lifting and are abutted to the support blocks to achieve secondary seam lifting.
Wherein: the multi-section arm comprises a first section arm, a second section arm, a third section arm and a fourth section arm, a joint hydraulic cylinder of the first section arm is installed in the shell part, the second section arm comprises a sliding block and a second section arm rotation driving device, one end of the sliding block is connected with a piston of the joint hydraulic cylinder, the other end of the sliding block is connected with one end of the third section arm through the second section arm rotation driving device, the other end of the third section arm is provided with a third section arm rotation driving device connected with the fourth section arm, and the finger mechanism and the finger driving hydraulic cylinder are respectively installed in the fourth section arm;
mechanical arm guide rails are respectively arranged on two sides of the shell part, and sliding blocks in two sections of arms in the left and right jacking mechanical arm systems are respectively connected with the mechanical arm guide rails on the two sides in a sliding manner; the two-section arm rotation driving device comprises a two-section arm motor fixing plate, a two-section arm driving motor, a two-section arm driving chain wheel, a two-section arm driven chain wheel and a two-section arm driving chain, the two-section arm driving motor is fixedly connected to the sliding block through the two-section arm motor fixing plate, an output shaft of the two-section arm driving motor is connected with the two-section arm driving chain wheel, the two-section arm driving chain wheel is connected with the two-section arm driven chain wheel through the two-section arm driving chain wheel, and a driven chain wheel shaft of the two-section arm driven chain wheel is rotatably installed at the other end of the sliding block and is connected with one end of the three-section arm;
the three-section arm rotation driving device comprises a three-section arm driving motor, a three-section arm driving belt wheel A, a three-section arm driving belt wheel B and a three-section arm driving synchronous belt, the three-section arm driving motor is installed at the other end of the three-section arm, the output shaft is connected with the three-section arm driving belt wheel A, the three-section arm driving belt wheel A is connected with the three-section arm driving belt wheel B through the three-section arm driving synchronous belt, and a belt wheel shaft of the three-section arm driving belt wheel B is rotatably installed at the other end of the three-section arm and is fixedly connected with the four-section arm;
the finger mechanism comprises two parallelogram mechanisms, each parallelogram mechanism comprises a finger fixing seat, a finger front swing arm, a finger rear swing arm and a clamping finger, the finger fixing seat is fixed on one side inside the four-section arm, the front end and the rear end of the finger fixing seat are respectively hinged with one end of the finger front swing arm and one end of the finger rear swing arm, and the other ends of the finger front swing arm and the finger rear swing arm are respectively hinged with the clamping finger, so that the parallelogram mechanism is formed; the finger rear swing arm in each parallelogram mechanism is connected with a piston of a finger driving hydraulic cylinder through a connecting rod; each clamping finger is provided with a V-shaped groove which is convenient for clamping the supporting block;
the supporting block is wedge-shaped, a groove for inserting a piston of the hydraulic joint starting system is formed in the upper surface of the supporting block, and a square interface for clamping the finger mechanism is arranged at the rear end of the supporting block; the width of the groove is as wide as the width of a piston of the hydraulic seam starting system, and the width of the supporting block is twice of the height of the supporting block;
the shell part comprises a shell, a hydraulic quick-change interface, a mechanical arm guide rail and a mechanical quick-change interface, wherein the shell is opened towards one side of the supporting block, the hydraulic quick-change interface is respectively installed on two side walls of the shell, and the mechanical arm guide rail is respectively arranged on the left side and the right side of a bottom plate of the shell; rectangular openings are processed on two side walls of the opening direction of the shell, and the mechanical quick-change connector is arranged at the rear part of the shell.
The invention has the advantages and positive effects that:
1. the invention can realize that rescue workers are far away from a rescue site and can realize the combination of seam starting and supporting functions.
2. The left and right supporting mechanical arm systems have four degrees of freedom, and the positions and angles of the supporting blocks can be independently adjusted.
3. The invention can realize the seam starting function with heavy weight because the installation on the engineering machinery can realize the passing of complex road surfaces.
4. The invention can realize the multiplexing of the supporting function and the joint starting function, and the supporting block can be used as a platform for starting the joint next time, so that the joint is started for the second time, and the joint is enlarged.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the internal structure of the initial state of the present invention;
FIG. 3 is a schematic view of the extended working condition of the left (right) support arm system of the present invention;
FIG. 4 is a schematic view of a segment of an arm according to the present invention;
FIG. 5 is a schematic view of a two-section arm according to the present invention;
FIG. 6 is a schematic view of a three-section arm according to the present invention;
FIG. 7 is a schematic view of the internal structure of a three-section arm according to the present invention;
FIG. 8 is a schematic view of a four-section arm according to the present invention;
FIG. 9 is a schematic structural view of a support block of the present invention;
fig. 10 is a schematic structural view of a left (right) support arm system of the present invention;
wherein: 1 is a shell part, 2 is a left top support mechanical arm system, 3 is a right top support mechanical arm system, 4 is a hydraulic seam-forming system, 5 is a shell, 6 is a hydraulic quick-change interface, 7 is a mechanical arm guide rail, 8 is a joint hydraulic cylinder, 9 is a two-section arm, 10 is a two-section arm rotary driving device, 11 is a three-section arm, 12 is a three-section arm rotary driving device, 13 is a four-section arm, 14 is a finger mechanism, 15 is a finger driving hydraulic cylinder, 16 is a piston, 17 is a two-section arm driving motor, 18 is a three-section arm driving motor, 19 is a clamping finger, 20 is a supporting block, 21 is a two-section arm motor fixing plate, 22 is a groove, 23 is a two-section arm driving sprocket, 24 is a two-section arm driven sprocket, 25 is a two-section arm driving chain, 26 is a sliding block, 27 is a hydraulic cylinder fixing piece, 28 is a square interface, 29 is a three-section arm driving pulley A, 30 is a three-section arm driving pulley B, 31 is a three-section arm driving synchronous belt, the device comprises a finger fixing seat 32, a finger front swing arm 33, a finger rear swing arm 34, a mechanical quick-change interface 35, a driven chain wheel shaft 36, a belt wheel shaft 37, a connecting rod 38 and a rectangular opening 39.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 5, the present invention includes a housing portion 1, a left top support mechanical arm system 2, a right top support mechanical arm system 3 and a hydraulic seam starting system 4, wherein the housing portion 1 includes a housing 5, a hydraulic quick-change connector 6, a mechanical arm guide rail 7 and a mechanical quick-change connector 35, the housing 5 is hollow and has a structure with an opening on one side, and is in a rectangular parallelepiped shape, the hydraulic quick-change connector 6 is respectively installed on two side walls of the housing 5, the mechanical arm guide rails 7 are respectively installed on the left and right sides of a bottom plate of the housing 5, one end of each of the mechanical arm guide rails 7 on the two sides is fixedly connected in the housing 5, and the other end of each of the mechanical arm guide rails is extended from the housing 5. Two side walls in the opening direction of the shell 5 are provided with rectangular openings 50. The rear part of the shell 5 is provided with a mechanical quick-change interface 35 matched with the engineering machinery, so that the connection between the accessory and the engineering machinery is facilitated.
The left top bracing mechanical arm system 2 and the right top bracing mechanical arm system 3 are identical in structure and symmetrically arranged on two sides of the shell part 1; the power part of the left top bracing mechanical arm system 2 and the right top bracing mechanical arm system 3 is positioned in the shell 5, and the execution part is positioned outside the shell 5. The hydraulic seam starting system 4 is positioned between the left top support mechanical arm system 2 and the right top support mechanical arm system 3, the power part of the hydraulic seam starting system 4 is installed in the shell 5, and the execution part is positioned outside the shell 5.
As shown in fig. 4, 8 and 10, each of the left top-support mechanical arm system 2 and the right top-support mechanical arm system 3 includes a support block 20, a finger-driven hydraulic cylinder 15, a finger mechanism 14 and a multi-section arm sequentially connected to each other, the multi-section arm of this embodiment includes a first-section arm, a second-section arm 9, a third-section arm 11 and a fourth-section arm 13, the first-section hydraulic cylinder 8 of the first-section arm is fixedly mounted on one side wall of the housing 5, the second-section arm 9 includes a sliding block 26 and a second-section arm rotation driving device 10, the sliding blocks 26 in the second-section arms 9 of the left and right top-support mechanical arm systems 2 and 3 are respectively connected to the mechanical arm guide rails 7 on both sides in a sliding manner, so that the left and right top-support mechanical arm systems 2 and 3 can be driven by the respective one-section hydraulic cylinders 8 to slide back and forth on the mechanical arm guide rails 7 on both sides; the slide 26 is fixedly connected at one end to the piston 16 of a joint hydraulic cylinder 8 and at the other end to one end of a three-link arm 11 via a two-link arm rotation drive 10. The other end of the three-section arm is provided with a three-section arm rotation driving device 12 connected with a four-section arm 13, and a finger mechanism 14 and a finger driving hydraulic cylinder 15 are respectively installed in the four-section arm 13. The three-joint arm 11 can be swung with respect to the two-joint arm 9 by driving the two-joint arm rotation driving device 10, and the four-joint arm 13 can be swung with respect to the three-joint arm 11 by driving the three-joint arm rotation driving device 12. During swinging, the rectangular openings 39 formed on the two sides of the shell 5 can avoid collision interference between the swinging three-section arm 11 and the swinging four-section arm 13 and the two sides of the shell 5. The left top support mechanical arm system 2 and the right top support mechanical arm system 3 can be respectively inserted into the support blocks 20 from two sides, so that stable double-column support is realized. The left top bracing mechanical arm system 2 and the right top bracing mechanical arm system 3 are provided with four degrees of freedom, namely, the telescopic degree of freedom of one section of arm, the deflection degree of freedom of two or three sections of arms and the clamping degree of freedom of four sections of arms, and the left top bracing mechanical arm system 2 and the right top bracing mechanical arm system 3 can independently adjust the position and the angle of the supporting block 20 through the four degrees of freedom.
As shown in fig. 5, the two-joint arm rotation driving device 10 includes a two-joint arm motor fixing plate 21, a two-joint arm driving motor 17, a two-joint arm driving sprocket 23, a two-joint arm driven sprocket 24, and a two-joint arm driving chain 25, and a slider 26 having a hollow structure with an opening at the other end thereof, is rectangular, and extends outward to form a semicircle shape at each of the upper and lower sides of the opening. The two-section arm driving motor 17 is fixedly connected to the sliding block 26 through the two-section arm motor fixing plate 21, an output shaft of the two-section arm driving motor 17 is connected with the two-section arm driving chain wheel 23, the two-section arm driving chain wheel 23 is connected with the two-section arm driven chain wheel 24 through the two-section arm driving chain 25, and a driven chain wheel shaft 36 of the two-section arm driven chain wheel 24 is rotatably installed at the other end of the sliding block 26 and is connected with one end of the three-section arm 11.
As shown in fig. 6 and 7, the three-arm rotation driving device 12 includes a three-arm driving motor 18, a three-arm driving pulley a29, a three-arm driving pulley B30, and a three-arm driving synchronous belt 31, the three-arm 11 is a square tube structure, the three-arm driving motor 18 is installed at the other end of the inner wall of the square tube of the three-arm 11, an output shaft is connected with a three-arm driving pulley a29, the three-arm driving pulley a29 is connected with the three-arm driving pulley B30 through the three-arm driving synchronous belt 31, and a pulley shaft 37 of the three-arm driving pulley B30 is rotatably installed at the other end of the three-arm 11 and is fixedly connected with the four-arm 13.
The four-section arm 13 is a square tube structure, as shown in fig. 8, the finger mechanism 14 includes two parallelogram mechanisms, each parallelogram mechanism includes a finger fixing seat 32, a finger front swing arm 33, a finger rear swing arm 34 and a finger clamp 19, the finger fixing seat 32 is fixed at one side inside the four-section arm 13, the front and rear ends of the finger fixing seat 32 are hinged with one end of the finger front swing arm 33 and one end of the finger rear swing arm 34, and the other ends of the finger front swing arm 33 and the finger rear swing arm 34 are hinged with the finger clamp 19, so as to form a parallelogram mechanism. The finger rear swing arm 34 in each parallelogram mechanism is connected to the piston of the finger-driven hydraulic cylinder 15 through a connecting rod 38. The finger-driven hydraulic cylinder 15 drives the two gripping fingers 19 of the finger mechanism 14 to open and close by extending and contracting the piston, thereby gripping the support block 20. Each finger 19 is provided with a V-shaped groove for facilitating gripping of the support block 20.
As shown in fig. 9, the supporting block 20 is wedge-shaped, the front end is sharp, the rear end is provided with a square interface 28, which corresponds to the upper and lower V-shaped grooves on the clamping finger 19, so as to be clamped by the clamping finger 19. The upper surface of the support block 20 is provided with a groove 22 into which the piston of the hydraulic seam starting system 4 is inserted, the width of the groove 22 is the same as that of the piston of the hydraulic seam starting system 4, and the groove enables the hydraulic seam starting system 4 to be inserted and secondary seam starting to be performed. The width of the supporting block 20 is twice its height.
The hydraulic quick-change connector 6 is a commercially available product and is purchased from a zebra quick-change connector produced by Jindong hydraulic machinery Limited company in salt cities.
The hydraulic seaming system 4 of the present invention is a commercially available product, available from Shenyang ocean Power Equipment Ltd, model number SLJK-63. The hydraulic seam starter system 4 is fixed in the middle of the bottom plate of the shell 5 and comprises a hydraulic seam starter and a fixing part thereof, and a piston of the hydraulic seam starter is in an initial position.
The working principle of the invention is as follows:
a piston 16 of a joint hydraulic cylinder 8 in the left and right jacking mechanical arm systems 2 and 3 is connected with a two-section arm 9, a hydraulic control system (the hydraulic control system of the invention is the prior art) on the rear engineering machinery sends an instruction, and pressure oil is output to the joint hydraulic cylinder 8 through a hydraulic pipe connected with hydraulic quick-change connectors 6 on two sides of a shell 5; when a joint hydraulic cylinder 8 is pressurized to push a piston 16 to move forwards, the left and right jacking mechanical arm systems 2 and 3 and the support blocks 20 connected with the left and right jacking mechanical arm systems move forwards along the mechanical arm guide rails 7 on two sides together, the support blocks 20 are clamped by the finger mechanisms 14, and the support blocks 20 are fed into the expanded gaps. During the process of feeding the supporting block 20 into the gap, the position of the supporting block 20 can be adjusted by the left and right top support arm systems 2, 3. That is, the two-joint arm driving motor 17 fixed to the two-joint arm motor fixing plate 21 of the left and right top brace robot arm systems 2 and 3 operates to rotate the two-joint arm driving sprocket 23 connected to the output shaft thereof, and outputs the rotational motion to the two-joint arm driven sprocket 24 through the two-joint arm driving chain 25, and the driven sprocket shaft 36 of the two-joint arm driven sprocket 24 is connected to the three-joint arm 11, thereby driving the three-joint arm 11 to finely adjust the position of the support block 20. The fine adjustment can also be realized by a three-section arm driving motor 18 arranged on the three-section arm 11 driving a three-section arm driving belt wheel A29 connected with the output shaft to rotate, a three-section arm driving synchronous belt 31 driving a three-section arm driving belt wheel B30, and a three-section arm driving belt wheel B30 connected with the four-section arm 13. And the piston 16 of the joint hydraulic cylinder 8 is pushed forward continuously, so that the supporting block 20 is pushed forward continuously for one-time seam opening. After the supporting block 20 completes one-time seam starting, the hydraulic quick-change connectors 6 on the two sides are automatically disconnected from the hydraulic pipes.
The piston of the hydraulic cylinder 15 is driven by fingers to extend, so that the clamping fingers 19 loosen the square interface 28 at the rear end of the supporting block 20, and the left and right top support mechanical arm systems 2 and 3 are disconnected with the supporting block 20. Meanwhile, a joint hydraulic cylinder 8 in each of the left and right top support mechanical arm systems 2 and 3 pressurizes and pushes a piston 16 to move backwards, so that the left and right top support mechanical arm systems 2 and 3 are driven to move backwards to initial positions along the mechanical arm guide rails 7 on the two sides under the constraint of the upper sliding blocks 26 of the two-section arms 9, and the support blocks 20 are left in the expanded gaps. Then, the present invention moves to the vicinity of the shoe 20, and the piston of the hydraulic caulking system 4 is inserted into the groove 22 of the shoe 20 by hydraulic pressure to perform secondary caulking, thereby expanding the gap.
The invention starts from seam support accessories which are urgently needed in large-scale engineering machinery rescue operation and rescue sites, analyzes the requirements of typical rescue environments of disaster sites on seam support and the requirements on the capability of the seam support accessories, and limits on the conditions of use and operation of the accessories. Then, according to the restraint of the ruin rescue environment on a crack starting support tool, a crack starting device with an adjustable crack adapting mechanism is researched, and a modularized crack adapting top support device is researched. The invention provides support for large engineering machinery applied to earthquake rescue, can improve emergency rescue capability of emergency in China and improve the level of emergency rescue equipment on the scene of emergency in China.
Claims (8)
1. An accessory integrating joint starting and supporting is characterized in that: the hydraulic seam lifting device comprises a shell part (1), a left top support mechanical arm system (2), a right top support mechanical arm system (3) and a hydraulic seam lifting system (4), wherein the left top support mechanical arm system (2) and the right top support mechanical arm system (3) are identical in structure and symmetrically arranged on two sides of the shell part (1), and the hydraulic seam lifting system (4) is arranged on the shell part (1) and is positioned between the left top support mechanical arm system (2) and the right top support mechanical arm system (3); the left top support mechanical arm system (2) and the right top support mechanical arm system (3) respectively comprise a support block (20), a finger driving hydraulic cylinder (15), a finger mechanism (14) and a plurality of sections of arms which are sequentially connected, the finger driving hydraulic cylinder (15) is installed on the last section of arm in the plurality of sections of arms, the output end of the finger driving hydraulic cylinder (15) clamps the support block (20) through the finger mechanism (14), the support block (20) performs primary seam lifting through the driving stretching or swinging of the plurality of sections of arms, and the output end of the hydraulic seam lifting system (4) is inserted into the primary seam lifting and is abutted against the support block (20) to realize secondary seam lifting;
the supporting block (20) is wedge-shaped, a groove (22) for inserting a piston of the hydraulic seam starting system (4) is formed in the upper surface of the supporting block, and a square interface (28) for clamping the finger mechanism (14) is formed in the rear end of the supporting block (20).
2. The joint and support integrated accessory of claim 1, wherein: the multi-section arm comprises a first section arm, a second section arm (9), a third section arm (11) and a fourth section arm (13), a joint hydraulic cylinder (8) of the first section arm is installed in the shell part (1), the second section arm (9) comprises a sliding block (26) and a second section arm rotation driving device (10), one end of the sliding block (26) is connected with a piston (16) of the joint hydraulic cylinder (8), the other end of the sliding block is connected with one end of the third section arm (11) through the second section arm rotation driving device (10), the other end of the third section arm (11) is provided with a third section arm rotation driving device (12) connected with the fourth section arm (13), and the finger mechanism (14) and the finger driving hydraulic cylinder (15) are installed in the fourth section arm (13) respectively.
3. The joint and support integrated accessory of claim 2, wherein: mechanical arm guide rails (7) are respectively arranged on two sides of the shell part (1), and sliding blocks (26) in two sections of arms (9) in the left and right top support mechanical arm systems (2 and 3) are respectively in sliding connection with the mechanical arm guide rails (7) on the two sides; the two-section arm rotation driving device (10) comprises a two-section arm motor fixing plate (21), a two-section arm driving motor (17), a two-section arm driving chain wheel (23), a two-section arm driven chain wheel (24) and a two-section arm driving chain (25), the two-section arm driving motor (17) is fixedly connected onto the sliding block (26) through the two-section arm motor fixing plate (21), an output shaft of the two-section arm driving motor (17) is connected with the two-section arm driving chain wheel (23), the two-section arm driving chain wheel (23) is connected with the two-section arm driven chain wheel (24) through the two-section arm driving chain wheel (25), and a driven chain wheel shaft (36) of the two-section arm driven chain wheel (24) is rotatably installed at the other end of the sliding block (26) and is connected with one end of the three-section arm (11).
4. The joint and support integrated accessory of claim 2, wherein: the three-section arm rotation driving device (12) comprises a three-section arm driving motor (18), a three-section arm driving belt wheel A (29), a three-section arm driving belt wheel B (30) and a three-section arm driving synchronous belt (31), the three-section arm driving motor (18) is installed at the other end of the three-section arm (11), the output shaft is connected with the three-section arm driving belt wheel A (29), the three-section arm driving belt wheel A (29) is connected with the three-section arm driving belt wheel B (30) through the three-section arm driving synchronous belt (31), and a belt wheel shaft (37) of the three-section arm driving belt wheel B (30) is rotatably installed at the other end of the three-section arm (11) and fixedly connected with the four-section arm (13).
5. The joint forming and supporting integrated accessory of claim 1 or 2, wherein: the finger mechanism (14) comprises two parallelogram mechanisms, each parallelogram mechanism comprises a finger fixing seat (32), a finger front swing arm (33), a finger rear swing arm (34) and a clamping finger (19), the finger fixing seat (32) is fixed on one side inside the four-section arm (13), the front end and the rear end of the finger fixing seat (32) are respectively hinged with one end of the finger front swing arm (33) and one end of the finger rear swing arm (34), and the other ends of the finger front swing arm (33) and the finger rear swing arm (34) are respectively hinged with the clamping finger (19), so that the parallelogram mechanisms are formed; the finger rear swinging arm (34) in each parallelogram mechanism is connected with a piston of a finger driving hydraulic cylinder (15) through a connecting rod (38).
6. The joint and support integrated accessory of claim 5, wherein: each clamping finger (19) is provided with a V-shaped groove which is convenient for clamping the supporting block (20).
7. The joint forming and supporting integrated accessory of claim 1 or 2, wherein: the width of the groove (22) is the same as that of a piston of the hydraulic seam starting system (4), and the width of the supporting block (20) is twice of the height of the supporting block.
8. The joint forming and supporting integrated accessory of claim 1 or 2, wherein: the shell part (1) comprises a shell (5), a hydraulic quick-change interface (6), a mechanical arm guide rail (7) and a mechanical quick-change interface (35), wherein the shell (5) is opened towards one side of the supporting block (20), the hydraulic quick-change interface (6) is respectively installed on two side walls of the shell (5), and the mechanical arm guide rail (7) is respectively arranged on the left side and the right side of a bottom plate of the shell (5); rectangular openings (50) are machined in two side walls of the opening direction of the shell (5), and the mechanical quick-change connector (35) is arranged at the rear part of the shell (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510725575.4A CN106621113B (en) | 2015-10-30 | 2015-10-30 | Joint starting and supporting integrated accessory |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510725575.4A CN106621113B (en) | 2015-10-30 | 2015-10-30 | Joint starting and supporting integrated accessory |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106621113A CN106621113A (en) | 2017-05-10 |
| CN106621113B true CN106621113B (en) | 2021-11-16 |
Family
ID=58829919
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510725575.4A Active CN106621113B (en) | 2015-10-30 | 2015-10-30 | Joint starting and supporting integrated accessory |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106621113B (en) |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB9106222D0 (en) * | 1991-03-23 | 1991-05-08 | Churchill V L Ltd | Cutting implement |
| CN100341773C (en) * | 2005-05-25 | 2007-10-10 | 中国人民解放军广州军区空军工程建设局 | Global automatically controlled hydraulic jacking device and jacking method thereof |
| WO2011100655A2 (en) * | 2010-02-15 | 2011-08-18 | Altair Engineering, Inc. | Portable rescue tool and method of use |
| CN202785465U (en) * | 2012-07-11 | 2013-03-13 | 西南交通大学 | Auxiliary device based on rescue hoisting equipment |
| CN204208214U (en) * | 2013-11-14 | 2015-03-18 | 艾迪斯鼎力科技(天津)有限公司 | Small-sized single interface hydraulic shear expands device |
| CN203620117U (en) * | 2013-12-20 | 2014-06-04 | 中国科学院沈阳自动化研究所 | Self-synchronization seam opening mechanism |
| CN104353201A (en) * | 2014-10-26 | 2015-02-18 | 劳炳凤 | Hand-held hydraulic expander |
| CN205084253U (en) * | 2015-10-30 | 2016-03-16 | 中国科学院沈阳自动化研究所 | Sewing starting and accessory of strutting an organic whole |
-
2015
- 2015-10-30 CN CN201510725575.4A patent/CN106621113B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN106621113A (en) | 2017-05-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA3103086C (en) | Detecting, excavating, supporting, anchoring and conveying integrated machine system for downhole rapid excavating and use method thereof | |
| US10563468B2 (en) | Automatic auxiliary workover rig | |
| CN104074518B (en) | Rock-boring splitter | |
| CN109798079B (en) | Telescopic arm type iron driller | |
| CN209817930U (en) | Rail-walking type foldable tunnel pipe erecting machine for coal mine | |
| WO2008033831A3 (en) | Tong positioning and alignment device | |
| WO2006083172A1 (en) | Quick coupling device for a work tool | |
| CN219704444U (en) | Building pipeline welding seam grinding device | |
| CN108858178A (en) | A kind of telescopic magic hand being machined adjustable-angle in production | |
| CN114575898A (en) | Arch anchor integrated operation trolley and construction method thereof | |
| CN106621113B (en) | Joint starting and supporting integrated accessory | |
| CN113441858A (en) | Automatic sealing and mounting operation device and operation method for TBM steel arch frame | |
| CN117432430A (en) | Method and equipment for tunneling drilled hard rock tunnel | |
| CN203109945U (en) | Rotary working arm | |
| CN112983491B (en) | Novel TBM steel arch frame automatic assembling device and operation method | |
| CN205084253U (en) | Sewing starting and accessory of strutting an organic whole | |
| KR101402448B1 (en) | Excavator of auxiliary equipment connection | |
| CN214836178U (en) | Hydraulic sucker rod hanging cylinder | |
| EP0327573A1 (en) | A device for crushing structures | |
| CN113236154A (en) | Well mouth screwing-off device and electric control system of rescue vehicle-mounted drilling machine for coal mine | |
| CN211218689U (en) | Simple turning equipment for sheave liner rope groove | |
| CN108756957B (en) | Special hydraulic clamp assembly for tunnel arch center installation | |
| CN221072773U (en) | Working arm of roadway repairing machine | |
| CN218150734U (en) | Full-hydraulic multifunctional down-the-hole drill | |
| US11679421B2 (en) | Rigid-flexible operation integrated multi-function engineering rescue equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |