WO2017012420A1 - 一种六杆机构的多功能工程属具 - Google Patents

一种六杆机构的多功能工程属具 Download PDF

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Publication number
WO2017012420A1
WO2017012420A1 PCT/CN2016/084283 CN2016084283W WO2017012420A1 WO 2017012420 A1 WO2017012420 A1 WO 2017012420A1 CN 2016084283 W CN2016084283 W CN 2016084283W WO 2017012420 A1 WO2017012420 A1 WO 2017012420A1
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WIPO (PCT)
Prior art keywords
hydraulic cylinder
attachment
attachment bracket
grip
link
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Ceased
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PCT/CN2016/084283
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English (en)
French (fr)
Inventor
赵京
宋伯宸
吴佳尉
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Beijing University of Technology
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Beijing University of Technology
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Application filed by Beijing University of Technology filed Critical Beijing University of Technology
Priority to US15/315,716 priority Critical patent/US9770829B2/en
Publication of WO2017012420A1 publication Critical patent/WO2017012420A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/02—Gripping heads and other end effectors servo-actuated
    • B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
    • B25J15/022—Gripping heads and other end effectors servo-actuated comprising articulated grippers actuated by articulated links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
    • B23D15/00—Shearing machines or shearing devices cutting by blades which move parallel to themselves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
    • B23D31/00—Shearing machines or shearing devices covered by none or more than one of the groups B23D15/00 - B23D29/00; Combinations of shearing machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23D—PLANING; SLOTTING; SHEARING; BROACHING; SAWING; FILING; SCRAPING; LIKE OPERATIONS FOR WORKING METAL BY REMOVING MATERIAL, NOT OTHERWISE PROVIDED FOR
    • B23D33/00—Accessories for shearing machines or shearing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
    • B25J15/0066—Gripping heads and other end effectors multiple gripper units or multiple end effectors with different types of end effectors, e.g. gripper and welding gun
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G23/00—Working measures on existing buildings
    • E04G23/08—Wrecking of buildings
    • E04G23/082—Wrecking of buildings using shears, breakers, jaws and the like

Definitions

  • the invention relates to the technical field of mechanical design and hydraulic control earthquake disaster reduction, and belongs to a multifunctional engineering accessory of a six-bar mechanism.
  • a multi-functional engineering attachment of a six-bar mechanism comprising a six-link clamping device (A), a scissor separating device (B), a shearing device (C), and a locking device (D);
  • the six-link clamping device (A) is composed of a swing hydraulic cylinder (19), a crank (16), a transition rod (21), a first link (17), a second link (18), and a grip grip (15).
  • the six-link clamping device (A) is fixed on the hydraulic scissors (5); the swing hydraulic cylinder (19) is connected to the crank (16); the transition rod (21) is respectively connected to the first link (17) And the cranks (16) are connected to each other; the first link (17) and the second link (18) are connected to each other; the crank (16) and the second link (18) are connected to the clamping hand (15) together, Determining the relative position of the gripping gripper (15) on the hydraulic scissors (5); driving the crank (16) to the different positions by the swinging hydraulic cylinder (19) to realize the pushing and retracting of the gripping grip (15); Holding the hand (15) to the position a, the swing hydraulic cylinder (19) is locked, so that the grip hand grip (15) is fixed at the position a, and the grip grip (15) is pushed out; the
  • the scissor separation device (B) is composed of a hydraulic cylinder (10), a hydraulic cylinder drive rod (12), a fixed plate (11), a cross bar (9), and a connecting rod (8); the hydraulic cylinder (10) and the hydraulic cylinder are driven.
  • the rod (12) constitutes a hydraulic drive system; each connecting rod (8) is cross-connected to form a scissor structure; the hydraulic cylinder drive rod (12) is connected with the connecting rod (8); the cross rod (9) is arranged at the two connecting rods ( 8) the connection to ensure the stability of the scissor mechanism; the connecting rod (8) is connected with the fixing plate (11); the fixing plate (11) is connected with the attachment bracket (3); the hydraulic cylinder (10) drives the hydraulic cylinder driving rod (12) Movement, pushing the movement of the fixing plate (11) connected with the bracket to realize the separation of the attachment bracket (3) and achieving the lateral dimension requirement of the clamping function;
  • the shearing device (C) is composed of a hydraulic scissors (5) and a driving hydraulic cylinder (4), the shearing device (C) is mounted on the attachment bracket (3); the hydraulic scissors (5) and the attachment bracket (3) ); the driving hydraulic cylinder (4) is connected with the hydraulic scissors (5) to provide power; the hydraulic scissors (5) are equipped with a six-link clamping device (A) on both sides; the driving hydraulic cylinder (4) drives the multifunctional The attachment completes the cutting, breaking function and clamping function;
  • the locking device (D) comprises an attachment base (2) and a positioning block (7); the attachment base (2) is provided with a positioning groove (6), and the positioning groove (6) comprises six different positions. Position 1, position 2, position 3, position 4, position 5, position six, six different positions are symmetrically distributed along the center line of the base (2); the base (2) is provided with a positioning slide.
  • the linear motion of the attachment bracket (3) is separated and closed; the initial position of the positioning block (7) is inserted into the position of the positioning slot (6), position 2, and the attachment bracket (3) is kept closed; the positioning block (7) is lowered.
  • the attachment bracket (3) is separated; after the attachment bracket (3) completes the separation operation, the positioning block is inserted into the positioning slot (6) position three, position four, position five, position Sixth, the position of the attachment bracket (3) is fixed.
  • Each connecting rod (8) is cross-connected to form a scissor structure; the hydraulic cylinder (10) drives the scissor separating device (B) to move, so that the attachment bracket (3) is separated to achieve the lateral dimension requirement of the clamping function;
  • the structure has a large bearing capacity and satisfies the working force requirements after the attachment bracket (3) is separated.
  • the attachment base (2) and the attachment bracket (3) are relatively moved; the attachment base (2) is provided with a positioning groove (6) and a guiding slide rail; the positioning groove (6) comprises six different positions, the positioning groove (6) Position 1. Position 2 is used to fix the position of the attachment bracket (3) in the closed state; position 3 of the positioning groove (6), position 4, position 5, position 6 is used to fix the attachment bracket (3) In the open position; the upper part of the attachment base (2) is connected to the rotary cylinder (1) to rotate the multifunctional attachment on a plane.
  • the attachment bracket (3) is a separable structure; the attachment bracket (3) is mounted with a positioning block (7), which is pushed out and retracted, and the separation and fixed connection of the attachment bracket (3) and the attachment base (2) are completed. .
  • the invention improves the opening size of the multifunctional accessory by maintaining the separation structure of the accessory bracket structure while maintaining the labor-saving structure of the original hydraulic breaker, and is based on the power of the original hydraulic breaker. , increase the clamping function.
  • the separation mechanism of the attachment bracket adopts the mechanical structure design of the shearing fork separation.
  • the design is simple in structure, easy to implement, and can withstand large lateral forces, and maintains the stability of the force when the grip is grasped.
  • a six-link connection is adopted.
  • the overall six-bar linkage is mounted on the hydraulic scissors so that the movement of the clamping mechanism is stationary relative to the hydraulic scissors, so that the movement and locking of the clamping hand are achieved by swinging the hydraulic cylinder, while simplifying the mechanical structure. Reduce the number of components.
  • This scheme through the optimization of the mechanical structure design, combines the three functions onto one of the attachments, has high integration and is easy to operate. There is no similar scheme in the previous attachment design.
  • Figure 1 is a three-dimensional main view of the overall assembly
  • Figure 2 is a three-dimensional side view of the overall assembly
  • Figure 3 is a three-dimensional axial side view of the overall assembly
  • Figure 4 is a view of the internal mechanism of the bracket
  • Figure 5 is a view of the base positioning groove
  • Figure 6 is a diagram of a bracket positioning block
  • Figure 7 is a diagram of the scissor separation mechanism
  • Figure 8 is a diagram showing the separation state of the stent
  • Figure 9 is a side view of the six-bar linkage mechanism
  • Figure 10 is a retraction state diagram of the six-bar linkage mechanism
  • Figure 11 is a state diagram of the six-bar linkage mechanism
  • Figure 12 is a diagram of a shear fracture state
  • Figure 13 is a diagram of the attachment state of the attachment
  • Figure 14 is a schematic view of the overall structure.
  • a multi-function engineering attachment of a six-bar mechanism is composed of a six-link clamping device (A), a scissor separating device (B), a shearing device (C), The locking device (D) is composed.
  • the multifunctional accessory is in a working state of cutting and breaking.
  • the positioning block (7) on the attachment bracket (3) is inserted into the positioning groove (6), the scissors separating device (B) is in the closed state, and the attachment bracket (3) and the attachment base (2) ) Relatively fixed.
  • the six-link clamping device (A) is in the retracted state, and the swing hydraulic cylinder (19) is locked, maintaining the position of the gripping grip (15) to prevent it from interfering with the operation of the hydraulic scissors (5).
  • the hydraulic cylinder (4) is used as the main power source to drive the hydraulic scissors (5) to rotate.
  • the hydraulic scissors head (13) located at the upper part of the hydraulic scissors (5) realizes the shearing function and the hydraulic shearing head (14) completes the crushing.
  • the driving hydraulic cylinder (4) pushes the hydraulic scissors (5) into a working state.
  • the positioning block (7) on the attachment bracket (3) is withdrawn from the positioning groove (6) shown in Fig. 5.
  • the hydraulic cylinder (10) in the scissor separating device drives the hydraulic cylinder drive rod (12) to push the connecting rod (8) connected thereto to move.
  • the connecting rod (8) pushes the fixing plate (11) fixed to the attachment bracket (3) to move to both sides, so that the attachment bracket (3) is separated along the guiding rail on the attachment base (2).
  • the hydraulic cylinder (10) is locked by satisfying the lateral clamping size requirement of the multifunctional attachment.
  • the positioning block (7) on the attachment bracket (3) is inserted into the positioning groove (6) distributed on both sides of the attachment base (2), so that the attachment bracket (3) is fixed in position.
  • the grip grip (15) is in the retracted state.
  • the swing hydraulic cylinder (19) is unlocked, and the drive crank (16) is rotated at an appropriate angle to drive the swing hydraulic cylinder (19), the crank (16), the transition rod (21), the first link (17), and the second
  • the connecting rod (18) and the six-bar mechanism consisting of the gripping gripper (15) move.
  • the grip grip (15) is moved to this position, the swing hydraulic cylinder (19) Locked up.
  • the gripper grip (15) covers the hydraulic scissor head (13) of the hydraulic scissors (5) and the hydraulic shear head (14) to prevent the multi-function attachment from interfering with the hydraulic scissors (5) when the gripping work is completed. .
  • the driving hydraulic cylinder (4) drives the hydraulic scissors (5) to move, and the gripping grip (5) located thereon realizes the gripping function.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Architecture (AREA)
  • Chemical & Material Sciences (AREA)
  • Chemical Kinetics & Catalysis (AREA)
  • Electrochemistry (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Crushing And Grinding (AREA)
  • Working Measures On Existing Buildindgs (AREA)

Abstract

一种六杆机构的多功能工程属具，其包括六连杆夹持装置、剪叉分离装置、剪切装置、锁死装置。其中六连杆夹持装置的摆动液压缸实现六连杆杆组的运动与锁死，完成夹持手抓的推出与收回，剪叉分离装置可将属具支架分离，达到多功能属具抱抓工作的横向尺寸要求，剪切装置是实现多功能属具剪切、破碎功能，锁死装置是确定属具支架的运动位置，同时承受多功能属具工作时产生的反作用力。整个装置以液压油缸作为动力装置。本发明将剪切、破碎以及夹持三种功能结合到一种属具之上，结构设计新颖、驱动方式合理、制造工艺简单、易于人员操作，可以很好完成对废墟的破碎、搬移工作并提高经济建设效率。

Description

一种六杆机构的多功能工程属具 技术领域
本发明涉及机械设计、液压控制抗震减灾技术领域，具体属于一种六杆机构的多功能工程属具。
背景技术
地震灾害会给国家经济建设和人民生命财产安全造成直接和间接的危害和损失。投入更加高效的震后救灾设备对于挽救千万人的生命有着重要的意义。结合目前抗震救灾救援方式可以看出，液压破碎钳和抓石器在震后救灾的破拆工作中都起到了重要作用，所以实现一机多用对于救灾或者经济建设都具有重要的现实意义。目前，在同一台救援设备上实现多功能操作采用的结构多为双臂结构，具体实现为单一机械臂装有单一属具进行工作。这种方案存在操作不便、制造困难、造价高昂等缺点。现需要设计一种新的属具结合方式，简化结构，达到一种属具具备多种功能目的。
发明内容
本发明的目的是实现一种属具同时具有剪切、破碎以及夹持功能。克服目前技术障碍，实现在一种属具上具备多种功能，设计合理。
一种六杆机构的多功能工程属具，包括六连杆夹持装置(A)、剪叉分离装置(B)、剪切装置(C)、锁死装置(D)；
六连杆夹持装置(A)由摆动液压缸(19)、曲柄(16)、过渡杆(21)、第一连杆(17)、第二连杆(18)以及夹持手抓(15)组成，六连杆夹持装置(A)固定于液压剪刀具(5)之上；摆动液压缸(19)与曲柄(16)连接；过渡杆(21)分别与第一连杆(17)以及曲柄(16)相互连接；第一连杆(17)与第二连杆(18)相互连接；曲柄(16)与第二连杆(18)共同与夹持手抓(15)连接，以确定夹持手抓(15)在液压剪刀具(5)上的相对位置；通过摆动液压缸(19)驱动曲柄(16)运动至不同位置实现夹持手抓(15)的推出和收回；夹持手抓(15)运动至位置a，摆动液压缸(19)锁死,使夹持手抓(15)固定在位置a处，完成夹持手抓(15)推出；摆动液压缸(19)打开，通过曲柄(16)驱动夹持手抓(15)运动至位置b，摆动液压缸(19) 锁死，完成夹持手抓(15)的收回；
剪叉分离装置(B)由液压缸(10)、液压缸驱动杆(12)、固定板(11)、横杆(9)、连接杆(8)组成；液压缸(10)与液压缸驱动杆(12)组成液压驱动系统；各连接杆(8)相互交叉连接，构成剪叉结构；液压缸驱动杆(12)与连接杆(8)连接；横杆(9)设在两连接杆(8)的连接处，保证剪叉机构稳定性；连接杆(8)与固定板(11)连接；固定板(11)与属具支架(3)连接；液压缸(10)驱动液压缸驱动杆(12)运动，推动与支架相连接的固定板(11)运动，实现属具支架(3)分离，达到夹持功能的横向尺寸要求；
剪切装置(C)由液压剪刀具(5)、驱动液压缸(4)组成，剪切装置(C)安装于属具支架(3)上；液压剪刀具(5)与属具支架(3)连接；驱动液压缸(4)与液压剪刀具(5)连接，提供动力；液压剪刀具(5)两侧安装有六连杆夹持装置(A)；驱动液压缸(4)驱动多功能属具完成剪切、破碎功能和夹持功能；
锁死装置(D)包括属具基座(2)、定位块(7)；属具基座(2)上设有定位槽(6)，定位槽(6)上共包括六个不同位置即位置一、位置二、位置三、位置四、位置五、位置六，六个不同位置沿属具基座(2)的中心线对称分布；属具基座(2)上设有定位滑轨，实现属具支架(3)分离闭合的直线运动；定位块(7)初始位置插入定位槽(6)的位置一、位置二，保持属具支架(3)闭合状态；定位块(7)下降，脱离定位槽(6)的位置一、位置二，属具支架(3)分离；属具支架(3)完成分离动作之后，定位块插入定位槽(6)位置三、位置四、位置五、位置六，实现属具支架(3)位置固定。
各连接杆(8)相互交叉连接，构成剪叉结构；液压缸(10)驱动剪叉分离装置(B)运动，使得属具支架(3)分离，达到夹持功能的横向尺寸要求；剪叉式结构承受力大，满足属具支架(3)分离之后工作受力要求。
属具基座(2)与属具支架(3)相对运动；属具基座(2)上设有定位槽(6)、导向滑轨；定位槽(6)包括六个不同位置，定位槽(6)的位置一、位置二用于固定属具支架(3)在闭合状态的位置；定位槽(6)的位置三、位置四、位置五、位置六用于固定属具支架 (3)在打开状态的位置；属具基座(2)上部与回转油缸(1)相连接，使多功能属具在平面上旋转。
属具支架(3)为可分离结构；属具支架(3)上安装有定位块(7)，推出与收回，完成属具支架(3)与属具基座(2)的分开与固定连接。
原有技术相比，本发明的有益效果如下：
本发明在保持原有液压破碎钳的省力结构不变情况下，通过对属具支架结构进行分离式设计，增大多功能属具的开档尺寸，在保持原有液压破碎钳的动力基础之上，增加夹持功能。
属具支架的分离机构采用剪叉分离的机械结构设计，本设计结构简单，易于实现，而且可承受较大横向力，良好保持夹持手抓工作时的受力稳定性。
对夹持装置的推出与收回，采用六连杆的连接方式。整体六连杆机构安装在液压剪刀具之上，使得夹持机构的运动相对于液压剪刀具静止，使得夹持手抓的运动与锁死都通过摆动液压缸来实现，在简化机械结构的同时减少构件数量。
本方案，通过机械结构优化设计，将三种功能结合到一种属具之上，集成度高，易于操作，在之前的属具设计中没有类似方案。
附图说明
下面结合附图对本发明进一步说明：
图1整体装配三维主视图；
图2整体装配三维侧视图；
图3整体装配三维轴侧图；
图4属具支架内部机构图；
图5属具基座定位槽图；
图6属具支架定位块图；
图7剪叉分离机构图；
图8属具支架分离状态图；
图9六连杆机构轴侧图；
图10六连杆机构收回状态图；
图11六连杆机构推出状态图；
图12属具剪切破碎状态图；
图13属具夹持状态图；
图14为整体结构示意图。
图中：A.六连杆夹持装置，B.剪叉分离装置，C.剪切装置，D.锁死装置，1.回转油缸，2.属具基座，3.属具支架，4.驱动液压缸，5.液压剪刀具，6.定位槽，7.定位块，8.连接杆，9.横杆，10.液压缸，11.固定板，12.液压缸驱动杆，13.液压剪刀头，14.液压剪破碎头，15.夹持手抓，16.曲柄，17.第一连杆，18.第二连杆，19.摆动液压缸，20.摆动液压缸杆，21.过渡杆。
具体实施方式
下面结合附图说明下具体实施方式：
如图1、图6、图7以及图12，一种六杆机构的多功能工程属具由六连杆夹持装置(A)、剪叉分离装置(B)、剪切装置(C)、锁死装置(D)组成。如图1所示，多功能属具处于剪切、破碎工作状态。此时，位于属具支架(3)上的定位块(7)插入到定位槽(6)中，剪叉分离装置(B)处于闭合状态，属具支架(3)与属具基座(2)相对固定。六连杆夹持装置(A)处于收回状态，摆动液压缸(19)锁死，保持夹持手抓(15)的位置，以防止其干涉液压剪刀具(5)工作。驱动液压缸(4)作为主要动力源，推动液压剪刀具(5)转动，位于液压剪刀具(5)上部的液压剪刀头(13)实现剪切功能、液压剪破碎头(14)完成破碎的功能。
如图12，是驱动液压缸(4)推动液压剪刀具(5)进入工作状态的位置。
如图6，当多功能属具需要实现夹持功能时，位于属具支架(3)上的定位块(7)从图5所示的定位槽(6)中退出。
如图7，剪叉分离装置中的液压缸(10)驱动液压缸驱动杆(12)来推动与其相连接的连接杆(8)运动。连接杆(8)推动与属具支架(3)固连的固定板(11)向两侧移动，使属具支架(3)沿着属具基座(2)上的导向滑轨分开。
如图8，满足多功能属具的横向夹持尺寸要求，液压缸(10)锁死。位于属具支架(3)上的定位块(7)插入到分布在属具基座(2)两侧的定位槽(6)中，使得属具支架(3)位置固定。如图10，夹持手抓(15)处于收回状态。摆动液压缸(19)解除锁死状态，驱动曲柄(16)转动适当角度，带动包括摆动液压缸(19)、曲柄(16)、过渡杆(21)、第一连杆(17)、第二连杆(18)以及夹持手抓(15)组成的六杆机构运动。
如图11，使得夹持手抓(15)运动至该位置，摆动液压缸(19) 锁死。夹持手抓(15)边缘覆盖住液压剪刀具(5)的液压剪刀头(13)与液压剪破碎头(14)，防止多功能属具在完成抱抓工作时液压剪刀具(5)干涉。
如图13，驱动液压缸(4)驱动液压剪刀具(5)运动，位于其上的夹持手抓(5)实现夹持功能。

Claims (3)

  1. 一种六杆机构的多功能工程属具，其特征是：包括六连杆夹持装置(A)、剪叉分离装置(B)、剪切装置(C)、锁死装置(D)；
    六连杆夹持装置(A)由摆动液压缸(19)、曲柄(16)、过渡杆(21)、第一连杆(17)、第二连杆(18)以及夹持手抓(15)组成，六连杆夹持装置(A)固定于液压剪刀具(5)之上；摆动液压缸(19)与曲柄(16)连接；过渡杆(21)分别与第一连杆(17)以及曲柄(16)相互连接；第一连杆(17)与第二连杆(18)相互连接；曲柄(16)与第二连杆(18)共同与夹持手抓(15)连接，以确定夹持手抓(15)在液压剪刀具(5)上的相对位置；通过摆动液压缸(19)驱动曲柄(16)运动至不同位置实现夹持手抓(15)的推出和收回；夹持手抓(15)运动至位置a，摆动液压缸(19)锁死,使夹持手抓(15)固定在位置a处，完成夹持手抓(15)推出；摆动液压缸(19)打开，通过曲柄(16)驱动夹持手抓(15)运动至位置b，摆动液压缸(19)锁死，完成夹持手抓(15)的收回；
    剪叉分离装置(B)由液压缸(10)、液压缸驱动杆(12)、固定板(11)、横杆(9)、连接杆(8)组成；液压缸(10)与液压缸驱动杆(12)组成液压驱动系统；各连接杆(8)相互交叉连接，构成剪叉结构；液压缸驱动杆(12)与连接杆(8)连接；横杆(9)设在两连接杆(8)的连接处，保证剪叉机构稳定性；连接杆(8)与固定板(11)连接；固定板(11)与属具支架(3)连接；液压缸(10)驱动液压缸驱动杆(12)运动，推动与支架相连接的固定板(11)运动，实现属具支架(3)分离，达到夹持功能的横向尺寸要求；
    剪切装置(C)由液压剪刀具(5)、驱动液压缸(4)组成，剪切装置(C)安装于属具支架(3)上；液压剪刀具(5)与属具支架(3)连接；驱动液压缸(4)与液压剪刀具(5)连接，提供动力；液压剪刀具(5)两侧安装有六连杆夹持装置(A)；驱动液压缸(4)驱动多功能属具完成剪切、破碎功能和夹持功能；
    锁死装置(D)包括属具基座(2)、定位块(7)；属具基座(2)上设有定位槽(6)，定位槽(6)上共包括六个不同位置即位置一、位置二、位置三、位置四、位置五、位置六，六个不同位置沿属具基座(2)的中心线对称分布；属具基座(2)上设有定位滑轨，实现属具支架(3)分离闭合的直线运动；定位块(7)初始位置插入定位槽(6) 的位置一、位置二，保持属具支架(3)闭合状态；定位块(7)下降，脱离定位槽(6)的位置一、位置二，属具支架(3)分离；属具支架(3)完成分离动作之后，定位块插入定位槽(6)位置三、位置四、位置五、位置六，实现属具支架(3)位置固定。
  2. 根据权利1所述的一种六杆机构的多功能工程属具，其特征在于：属具基座(2)与属具支架(3)相对运动；属具基座(2)上设有定位槽(6)、导向滑轨；定位槽(6)包括六个不同位置，定位槽(6)的位置一、位置二用于固定属具支架(3)在闭合状态的位置；定位槽(6)的位置三、位置四、位置五、位置六用于固定属具支架(3)在打开状态的位置；属具基座(2)上部与回转油缸(1)相连接，使多功能属具在平面上旋转。
  3. 根据权利1所述的一种六杆机构的多功能工程属具，其特征在于：属具支架(3)为可分离结构；属具支架(3)上安装有定位块(7)，推出与收回，完成属具支架(3)与属具基座(2)的分开与固定连接。
PCT/CN2016/084283 2015-07-21 2016-06-01 一种六杆机构的多功能工程属具 Ceased WO2017012420A1 (zh)

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