CN115814300A - A metamorphic mechanism-based clamp-shear-grasping integrated attachment and construction machinery - Google Patents

Abstract

The invention discloses a tong-shear-grab integrated tool based on a metamorphic mechanism and an engineering machine, which comprises a rack, wherein the left side and the right side of the rack are symmetrically provided with a separating machine base, a function conversion cylinder, a power cylinder, a connecting rod, a tong-shear tool and a holding claw; the separating machine base is in sliding fit with the oblique guide rail groove of the machine frame and can only translate along the oblique guide rail groove; a sliding block rocker mechanism ABC for driving the pliers cutting tool to open and close is arranged between the separating base and the pliers cutting tool; a double-rocker mechanism BCDE for driving the holding claws to open and close is arranged between the separating base and the holding claws; the separating machine base is pushed to translate along the oblique guide rail groove through the function conversion cylinder, so that the distance between the hinged shaft C and the hinged shaft D is changed, the switching between a clamping mode and a grabbing mode is realized, and the double-rocker mechanism BCDE forms a group of metamorphic mechanisms under the clamping mode and the grabbing mode. The tool realizes the cutting and grabbing actions through a single set of power cylinder, and has the characteristics of convenient mode conversion, large tool unfolding range and no interference during movement.

Description

A metamorphic mechanism-based clamp-shear-grasping integrated attachment and construction machinery

technical field

The invention relates to the technical field of earthquake-resistant and disaster-mitigating machinery, in particular to a clamp-shear-grasping integrated attachment and construction machinery based on a metamorphic mechanism.

Background technique

With the continuous development of earthquake resistance and disaster reduction engineering technology, attachments, as an earthquake search and rescue tool, play an increasingly important role in rescue work. However, most of the existing hydraulic shear attachments only have the single function of cutting steel bars and crushing cement columns. In order to complete the tasks of cutting steel bars, crushing cement columns and grasping heavy objects on one attachment, the industry has carried out related research on the integrated attachment of pincers, shears and grasping. However, the researched and developed multifunctional attachments have technical problems such as inconvenient switching of working modes, small expansion range of knives, and easy interference between two knives when they move.

For example, the national invention patent ZL201611178749.0 [P] discloses a multi-functional engineering attachment with clamps, scissors, and grippers. However, the two types of tools in this invention patent require two sets of hydraulic cylinders to drive, and are relatively large in size and heavy in weight. For example, the National Invention Patent ZL201810117681.8 [P] discloses a multi-functional engineering attachment for scissors and grasping using a single-degree-of-freedom deformation mechanism, and proposes a clamp that can quickly complete the conversion from the scissors to the grasping device. Scissors and grasping multifunctional engineering attachments, however, the expansion size of the patented tool is limited, and the two kinds of tools are easy to interfere when they move.

Contents of the invention

The purpose of the patent of the present invention is to provide a pliers, scissors, and grasping integrated attachment based on the metamorphic mechanism, so as to solve the inconvenient switching of the working mode of the existing multi-functional engineering attachments, the range of tool expansion is small, and the two types of tools are easy to interfere when moving. technical issues.

In order to achieve the above-mentioned purpose, on the one hand, the present invention provides a kind of clamping, cutting and grasping integrated attachment based on the metamorphic mechanism, including a frame, and the left and right sides of the frame are symmetrically provided with a separation base, a function conversion cylinder, a power cylinder, Connecting rods, pliers and scissors and claws; the rear end of the frame is symmetrically provided with inclined guide rail grooves, and the separation base is slidably matched with the inclined guide rail grooves at the rear end of the frame so as to be able to move along the inclined guide rail grooves. Translation, the function conversion cylinder includes two and is respectively hinged between the frame and the rear end of the separation base; the scissors includes two and is symmetrically arranged at the front end of the base, A slider rocker mechanism ABC for driving the opening and closing of the pliers and scissors is arranged between the pliers and scissors, and the hinge axis A of the slider and rocker mechanism ABC is used to separate the vicinity of the rear end of the base from the power cylinder. Cylinder connection, hinge axis B is used to connect the outer side of the scissors with the rod body of the power cylinder, hinge axis C is used to connect the rear end of the scissors with the front end of the separation base; the claws are symmetrically arranged at the front end of the base, A double-rocker mechanism BCDE for driving the opening and closing of the claw is arranged between the separation machine base and the claw, and the hinge shaft B of the double-rocker mechanism BCDE is used for connecting the rod body of the power cylinder and the rear end of the connecting rod , The hinge axis D is used for the connection between the outer side of the front end of the frame and the rear end of the claw, and the hinge axis E is used for the connection between the outer side of the claw and the front end of the connecting rod;

The metamorphic mechanism-based clamping, scissors and grasping integrated attachment includes two modes: clamping mode and grasping mode; through the function conversion cylinder, the separation machine base is pushed to move along the inclined guide rail groove, so as to realize The distance between the articulation axis C and the articulation axis D of the double rocker mechanism BCDE changes, thereby realizing the conversion between the pincer mode and the grasping mode; the double rocker mechanism BCDE is composed of the pincer mode and the grasping mode A set of metamorphic mechanisms to enable the cutter to expand in a wide range and prevent movement interference;

The pincers mode: the function conversion cylinder shrinks to drive the separation machine base to move inward along the inclined guide rail groove, drives the rear end of the pincers to approach, and the power cylinder extends to make the slide The distance between the hinge axis A and the hinge axis B of the block rocker mechanism ABC increases, the driving pliers and scissors rotate inwardly around the hinge axis C to merge, and the power cylinder shrinks so that the hinge axis of the slider rocker mechanism ABC The distance between A and the hinge axis B decreases, and the driving pliers and scissors rotate outward around the hinge axis C to open; the grasping mode: the function conversion cylinder is stretched out to drive the separation base along the inclined guide rail groove Move outward, drive the rear end of the scissors away and make the hinge axis C close to the hinge axis D, and the power cylinder stretches out to drive the double rocker mechanism BCDE to rotate inward to drive the claw to rotate inward And combined, the power cylinder contracts to drive the double rocker mechanism BCDE to rotate outwards to drive the claws to rotate outwards and open.

The technical advantages of the present invention are reflected in that the provided integrated clamp, shear and grasp attachment based on the metamorphic mechanism has two modes: the clamp mode and the hug mode. The pliers and scissors are driven by a set of power cylinders with the claws. The self-locking structure ensures its structural stability in the two modes. The integrated scissors and grasping attachment works in the pincers mode; when grasping heavy objects, the provided clamps, scissors and grasping one-in-one attachment works in the grasping mode, the working mode is easy to switch, and it is small in size and light in weight. At the same time, a group of metamorphic mechanisms are formed in the mode of pincers and scissors. When the same rotation occurs, the movement characteristics of the double rocker mechanism BCDE are different, so that the claws have a larger expanded size and the claws and scissors in the mode non-interference.

In another aspect, the present invention provides a construction machine, including the above-mentioned integrated pincers, scissors, and grasping attachment based on the metamorphic mechanism. This kind of engineering machinery has the above-mentioned technical advantages of the clamp-shear-grasping integrated attachment based on the metamorphic mechanism.

Optionally, the frame includes two vertically spaced ones, the rear ends of the two frames are respectively fixedly connected to the centrally arranged trunnion fastening parts through the frame connectors, and the cylinder bodies of the two function conversion cylinders are respectively hinged between the trunnion fixing parts and each of the racks.

Optionally, the frame includes a front frame body and a rear frame body arranged at intervals in the front and back, the front frame body and the rear frame body are connected by a middle frame body, and the hinge axis D is symmetrically arranged on the front frame body In vitro end.

Optionally, the outer end of the rear frame body is arranged obliquely forward, the inclined guide rail groove is arranged at the outer end of the rear frame body, and a Rail slots for sliding fit of sliders.

Optionally, the scissors include a pincer blade, a knife connecting piece, a front edge and a middle edge, the knife connecting piece is arranged on the outside of the pincer piece and is provided with a hinge hole adapted to the hinge axis B, The front edge is detachably arranged on the inner front end of the pliers, and the middle edge is detachably arranged in the middle of the inner side of the pliers.

Optionally, the holding claws include two groups arranged at intervals up and down, and the pliers and scissors are arranged between the two groups of holding claws.

Description of drawings

Figure 1: Schematic diagram of the three-dimensional structure of the provided integrated clamp, scissors, and grasping attachment based on the metamorphic mechanism.

Figure 2: Schematic illustration of the deployment of the pincers in the pincer mode.

Figure 3: Schematic illustration of the closure of the scissors in the pincer mode.

Figure 4: Schematic diagram of the unfolding of the gripper in the gripping mode.

Figure 5: Schematic diagram of the gripper closure in the gripping mode.

Figure 6: Schematic diagram of the components of the pliers, scissors and grasping tool.

In the picture:

1. Trunnion fixing part; 2. Function conversion cylinder; 3. Articulated shaft F; 4. Frame; 5. Separation base; 6. Articulated shaft E; 7. Power cylinder; 8. Connecting rod; B; 10. Claw; 11. Articulation axis D; 12. Articulation axis C; 13. Pliers and scissors; 14. Rack connector; 15. Tool connector; 16. Pliers; Front edge; 19, hinge axis A, 20, hinge axis G.

Detailed ways

The existing multifunctional engineering attachments have technical problems such as large volume and weight, inconvenient switching of working modes, small size range of tool expansion, and easy interference of two kinds of tools when moving. In order to solve the above technical problems, the present invention provides an all-in-one pincers, scissors, and grasping attachment based on a metamorphic mechanism. The present invention will be further described below in conjunction with the examples, but the present invention is not limited to the following examples.

As shown in Figures 1 to 6, the present invention provides an integrated clamp, scissors, and grasping tool based on a metamorphic mechanism, including a frame 4, and the left and right sides of the frame 4 are symmetrically provided with a separation base 5 and a function conversion cylinder 2. , power cylinder 7, connecting rod 8, pliers scissors tool 13 and holding claw 10; The guide rail groove is slidably matched so that the separation base can only translate along the inclined guide rail groove. The function conversion cylinder 2 includes two and is respectively hinged between the rear end of the frame 4 and the separation base 5; the pincers and scissors 13 include two One and symmetrically arranged at the front end of the base, between the separation base 5 and the pliers and scissors 13, a slider rocker mechanism ABC for driving the opening and closing of the pliers and scissors 13 is arranged, and the hinge shaft A19 of the slider rocker mechanism ABC is used. It is connected with the cylinder body of the power cylinder 7 near the rear end of the separation machine base 5, the hinge axis B9 is used to connect the outer side of the pliers and scissors 13 with the rod body of the power cylinder 7, and the hinge axis C12 is used for the rear end of the pliers and scissors 13 and the separation The front end of the machine base 5 is connected; the holding claws 10 are symmetrically arranged at the front end of the machine base, and the double rocker mechanism BCDE for driving the opening and closing of the holding claws 10 is set between the separated machine base 5 and the holding claws, and the hinge shaft of the double rocker mechanism BCDE B9 is used for the connection between the rod body of the power cylinder 7 and the rear end of the connecting rod 8, the hinge shaft D11 is used for the connection between the outside of the front end of the frame 4 and the rear end of the claw 10, and the hinge axis E5 is used for the connection between the outside of the claw 10 and the front end of the connecting rod 8 ;Based on the metamorphic mechanism, the clamp, shear and grasping integrated attachment includes two modes: the clamp and shear mode and the grasping mode; through the function conversion cylinder 2, the separation base 5 is pushed to move along the inclined guide rail groove, so as to realize the double rocker mechanism BCDE The distance between the articulated axis C12 and the articulated axis D11 changes, thereby realizing the conversion between the pincers-shear mode and the grasping mode. The double rocker mechanism BCDE forms a group of metamorphic mechanisms in the pincers-shearing mode and in the grasping mode, so that the tool Spread out over a wide range and prevent motion interference.

Specifically, the integrated attachment provided has a symmetrical structure, and each end of the symmetrical structure is composed of a slider rocker mechanism ABC and a double rocker mechanism BCDE connected in parallel. The slider rocker mechanism ABC and the double rocker mechanism BCDE are hinged through the hinge shaft B9. Slider rocker mechanism ABC is made up of hinged axis A, hinged axis C on the separating machine base 5, two hinged axes B, hinged axis C on the pincers scissors tool 13, and the connecting line segment between the three hinged axes, corresponding The two adjacent rods are hinged to each other, and the release and retraction of the power cylinder 7 are regarded as the movement of the slider. The slider rocker mechanism BCDE is composed of two hinge axes B and C on the scissors tool 13, two hinge axes D and E on the claw, and the connecting line between the four hinge axes. hinged to each other.

The slider rocker mechanism ABC includes a power cylinder 7, a separation base 5, a pair of pincers and scissors 13, an articulation shaft B9 and an articulation shaft C12. The upper end and the lower end of the separation base 5 are all designed with through holes, the trunnion of the power cylinder, that is, the hinge axis A is hinged in the through hole at the upper end of the separation base 5, and the through hole at the lower end of the separation base 5 passes through the hinge shaft C12 and the pincers and scissors. One end of the pincer blade 16 of tool 13 is hinged. The through hole of the power cylinder 7 is hinged with one end of the through hole of the tool connector 15 of the pincers and scissors 13 through the hinge shaft B9. The double rocker mechanism BCDE includes a living hinge, which is on the separation base 5, and the living hinge is the hinge axis C on the separation base 5. When the mode is switched, the function conversion cylinder 2 is pushed out or retracted, and the movable hinge moves with the separation base 5. The double rocker mechanism BCDE forms a group of metamorphic mechanisms in the pincers mode and in the grasping mode by changing the length of the rod. When rotation occurs, the movement characteristics of the double rocker mechanism BCDE are different, so that the holding claw 10 has a larger expanded size and the holding claw 10 does not interfere with the pincers and scissors 13 during the mode.

The double rocker mechanism BCDE includes the claw 10, the connecting rod 8, the frame 4, the short shaft 6, and the short shaft 11, together with the slider rocker mechanism ABC, it includes the separation base 5, the pincers and scissors 13, and the hinge shaft B9 , Hinged axis C12. One end of the through hole at both ends of the claw 10 is hinged with the through hole at one end of the connecting rod 8, and the other end is hinged with the through hole at the lower end of the frame 4 through the thin short shaft 6; The through hole on the tool connector 15 on the tool 13 is hinged. The through hole on the pincer blade 16 of the pincer scissors tool 13 is hinged with the through hole at the lower end of the separation base 5 through the hinge shaft C12. By moving the separation machine base 5 through the function conversion cylinder 2, the length of the rod in the double rocker mechanism BCDE can be changed, that is, the length of the connecting line between two adjacent hinged shafts can be changed to determine the current mode. In the pincer mode, the function The conversion cylinder 2 is retracted, the power cylinder 7, the pliers and scissors 13, and the hinge shaft C12 move to the inside of the inclined guide rail groove along with the separation base 5, and the power cylinder 7 is pushed out. closed inside. In the grabbing mode, the function conversion cylinder 2 is pushed out, the power cylinder 7, the pliers and scissors 13, and the hinge shaft C12 move to the outside of the inclined guide rail groove along with the separation base 5, and the power cylinder 7 is pushed out, and at this time, the holding claw 10 is closed inward. , the pliers scissors 13 are closed inwardly. When subjected to an external force, the oblique guide rail groove on the frame 4 and the separation base 5 generate a self-locking force, and the relative positions of the frame 4 and the separation base 5 are locked.

The provided clamp, shear and grasping integrated attachment works in the clamping mode during the process of cutting steel bars and crushing cement columns, and works in the grasping mode when grasping heavy objects. A detailed description will be given below in conjunction with FIG. 2 , FIG. 3 , FIG. 4 and FIG. 5 .

As shown in Figures 2 and 3, in the pincers mode, the function conversion cylinder 2 shrinks and drives the separation base 5 to move inward along the inclined guide rail groove, drives the rear end of the pincers and scissors 13 to approach, and the power cylinder 7 stretches out. The distance between the hinge axis A19 and the hinge axis B9 of the slider rocker mechanism ABC is increased, the driving pliers and scissors are rotated inwardly around the hinge axis C12 to merge, and the power cylinder 7 contracts to make the hinge axis of the slider rocker mechanism ABC The distance between A19 and the hinge axis B9 decreases, and the driving pliers and scissors rotate outward around the hinge axis C12 to open.

Since the function conversion cylinder 2 is withdrawn in the mode of pincers and scissors, the power cylinder 7, the pincers and scissors 13, and the hinge shaft C12 move to the side of the inclined guide rail groove along with the separation machine base 5, and the power cylinder 7 is pushed out. At this time, the holding claws 10 Spread out, and the pincers and scissors 13 are closed inwardly. The interference of the scissors and claws is avoided.

As shown in Figure 4 and Figure 5, grasping mode: the function conversion cylinder 2 stretches out and drives the separation base 5 to move outward along the inclined guide rail groove, drives the rear ends of the pliers and scissors away and makes the hinge axis C12 close to the hinge axis D11, the power cylinder 7 stretches out to drive the double rocker mechanism BCDE to rotate inwardly, and drives the holding claws 10 to rotate inwardly to merge. The claw 10 has the same movement tendency as the scissors 13 and the claw 10 is always inside the scissors 13 to prevent movement interference. Conversely, the power cylinder 7 contracts to drive the double rocker mechanism BCDE to rotate outwards, and drives the claws 10 to rotate outwards to open. 13 has the same motion tendency and the holding claw 10 is always on the inner side of the scissors 13, preventing motion interference. That is to say, during the holding mode, the function conversion cylinder 2 is released, and the power cylinder 7, the pincers and scissors 13, and the hinged shaft C12 move to the other side of the inclined guide rail groove along with the separation base 5, and the power cylinder 7 is released. The jaws 10 are closed inwards, and the pliers 13 are closed inwards. In the grasping mode, the received external force is converted into the self-locking force of the inclined guide rail groove on the separation base 5 and the frame 4, and the relative position of the separation base 5 and the frame 4 is locked. This self-locking structure ensures its structural stability in the grabbing mode.

When the mode is switched, the function conversion cylinder 2 is pushed out or retracted, and the movable hinge moves with the separation base. The double rocker mechanism BCDE forms a group of metamorphic mechanisms in the pincers mode and in the grasping mode by changing the length of the rod, and the same happens. When rotating, the movement characteristics of the double rocker mechanism BCDE are different, so that the holding claw 10 has a larger expanded size. In the pincer mode, the claws are open, the pincers are closed, and the movement trends are different. In the grasping mode, the claws and the pincers are closed or opened at the same time, and the motion trends are the same. The claws 10 and the pincers 13 Non-interference.

The frame 4 is fixedly connected with the frame connector 14, the frame connector 14 is fixedly connected with the function conversion cylinder trunnion fixing part 1, and the function conversion cylinder 2 trunnion, that is, the hinge shaft G is hinged on the through hole at the upper end of the frame 4 and The through hole of the function conversion cylinder trunnion fixture 1, the through hole of the function conversion cylinder 2 earrings and the through hole on the top of the separation base 5 are hinged by the function conversion cylinder pin 3. The center line of the inclined guide rail groove on the frame 4 forms an inclination angle with the vertical direction of the frame 4, so that the scissors 13 and the claws 10 expand to a larger size and can be closed. The shape of the inclined guide rail groove on the frame 4 is identical with the sliding part of the separation frame 5 . When the mode is determined and the system is subjected to an external force, the tongs and scissors 13 are subjected to the reaction force of the tongs shear force. If the reaction force of the suffered tongs shear force is to take the moment on the center of the slide block on the separation frame 5, the slide block on the separation frame 5 will Subject to the overturning moment, the oblique guide rail groove on the frame 4 produces a reverse moment of the overturning moment to the center of the slider on the separation base 5, and this force is transformed into that the slider part in the separation base 5 is subjected to parallel forces in the frame 4. The frictional force in the direction of the guide rail groove, that is, the self-locking force, makes the two relative positions locked. When the system is not subjected to external force, the function conversion cylinder 2 can make the separation base 5 and the frame 4 move relatively, and then switch modes.

As shown in Figure 1, in some preferred embodiments, the claw 10 is roughly in a T-shaped structure, including a horizontal bar and a vertical bar protruding from the middle of the horizontal bar, the hinge axis E5 is set at the outer end of the vertical bar, and the hinge axis D11 is set At one end of the cross bar, the front end of the holding claw 10 is arranged on the other end of the cross bar and is inclined towards the side away from the cross bar, so that the holding claw 10 has the same movement tendency as the pliers scissors 13 in the holding mode and the holding claw 10 is always on the inside of the pliers scissors tool 13. Preferably, the holding claws 10 include two groups arranged at intervals up and down, and the pliers and scissors 13 are arranged between the holding claws 10 of the two groups.

As shown in FIG. 1 , in some preferred embodiments, the frame 4 includes two vertically spaced ones, and the rear ends of the two frames 4 are respectively fixed to the centrally arranged trunnion fastening piece 1 through the frame connector 14 Connected, the cylinder bodies of the two function conversion cylinders 2 are respectively hinged between the trunnion fixture 1 and each frame 4 . The frame 4 includes a front frame body and a rear frame body arranged at intervals in the front and back, the front frame body and the rear frame body are connected through the middle frame body, and the hinge axis D11 is symmetrically arranged at the outer end of the front frame body. The outer end of rear frame body is inclined forward arrangement, and oblique guide rail groove is arranged on the outer end of rear frame body, and the rear end near separation base 5 is provided with the slide block that slides and cooperates with oblique guide rail groove.

The frame 4 is provided with an inclined rail groove, and the shape of the inclined rail groove is the same as that of the sliding part of the separating machine base 5 . When the mode is determined and the pincers and scissors are subjected to external force, the sliding part of the inclined guide rail groove and the separation frame 5 will generate a self-locking force to lock the separation frame 5 from moving, so that the relative position of the separation frame 5 and the frame 4 is locked, increasing the Stability and reliability of the metamorphic mechanism. And, the frame 4 is provided with an oblique guide rail groove, and the axis of the oblique guide rail groove and the vertical direction of the frame 4 are an inclination angle fine-tuned according to geometric dimensions, so that the pincers and scissors 13 and the claws 10 are expanded to a greater extent. Size and able to close.

As shown in FIG. 6 , in some preferred embodiments, the clamped scissors 13 include a pincer blade 16, a knife connector 15, a front edge 18 and a middle edge 17, and the cutter connector 15 is arranged on the outside of the pincer blade 16 and is provided with The hinge hole adapted to the hinge shaft B9, the front edge 18 is detachably arranged on the inner front end of the pliers 16, and the middle edge 17 is detachably arranged in the inner middle of the pliers 16. Preferably, the pliers piece 16 is fixedly connected to the tool connector 15 by bolts, and the pliers piece 16 is respectively connected to the middle edge 17 and the front edge 18 by bolts.

The provided clamp, scissors and grasping integrated attachment based on the metamorphic mechanism, the clamps and scissors 13 and the holding claw 10 are driven by a set of power cylinder 7, and the self-locking structure ensures its structural stability in the two modes. In the process of cutting steel bars and crushing cement columns, the provided integrated attachment works in the shearing mode; when grasping heavy objects, the provided integrated attachment works in the grasping mode, which is convenient for mode conversion , and smaller in size and weight, a group of metamorphic mechanisms are formed in the pincer mode and in the grasping mode. When the same rotation occurs, the movement characteristics of the double rocker mechanism BCDE are different, so that the grasping claw 10 has a larger expansion The holding claw 10 and the scissors 13 do not interfere during size and mode.

Further, the present invention provides a construction machine, including the above-mentioned integrated pincers, scissors and grasping attachment based on the metamorphic mechanism. This kind of engineering machinery has the above-mentioned technical advantages of the clamp-shear-grasping integrated attachment based on the metamorphic mechanism.

Finally, it should be noted that the function conversion cylinders and power cylinders mentioned in the above embodiments are preferably hydraulic cylinders. Furthermore, in other specific implementation processes, the function conversion cylinder and the power cylinder are preferably pneumatic cylinders. Furthermore, in other specific implementation processes, the function conversion cylinder and the power cylinder are preferably electric linear cylinders. Since the telescopic control of hydraulic cylinders, pneumatic cylinders, and electric linear cylinders are common industrial application technologies, their working principles will not be described here.

The above-mentioned embodiments are only examples for clearly describing the present invention, rather than limiting the specific implementation of the present invention. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. Any obvious changes or changes derived from the spirit and principles of the present invention are still within the protection scope of the claims of the present invention.

Claims (9)

1. The utility model provides a pincers are cut and are grabbed integrative accessory based on metamorphic mechanism which characterized in that:

the multifunctional clamp comprises a rack (4), wherein separating bases (5), function conversion cylinders (2), power cylinders (7), connecting rods (8), clamp cutters (13) and holding claws (10) are symmetrically arranged on the left side and the right side of the rack (4);

the rear end of the rack (4) is symmetrically provided with oblique guide rail grooves, the separating base (5) is in sliding fit with the oblique guide rail grooves at the rear end of the rack (4) and can further translate along the oblique guide rail grooves, and the function conversion cylinders (2) comprise two cylinders which are respectively hinged between the rack (4) and the rear end of the separating base (5);

the pincer shear tool (13) comprises two symmetrical sliding block rocker mechanisms ABC arranged at the front end of the machine base, the sliding block rocker mechanisms ABC used for driving the pincer shear tool to open and close are arranged between the separating machine base (5) and the pincer shear tool, a hinge shaft A (19) of each sliding block rocker mechanism ABC is used for connecting the position, close to the rear end of the separating machine base (5), of the cylinder body of the power cylinder (7), a hinge shaft B (9) is used for connecting the outer side of the pincer shear tool (13) with the rod body of the power cylinder (7), and a hinge shaft C (12) is used for connecting the rear end of the pincer shear tool (13) with the front end of the separating machine base (5);

the holding claws (10) are symmetrically arranged at the front end of the machine base, a double-rocker mechanism BCDE for driving the holding claws (10) to open and close is arranged between the separating machine base (5) and the holding claws (10), a hinge shaft B (9) of the double-rocker mechanism BCDE is used for connecting a rod body of the power cylinder (7) with the rear end of the connecting rod (8), a hinge shaft D (11) is used for connecting the outer side of the front end of the machine frame (4) with the rear end of the holding claw (10), and a hinge shaft E (5) is used for connecting the outer side of the holding claw (10) with the front end of the connecting rod (8);

the forceps-shearing-grabbing integrated accessory based on the metamorphic mechanism comprises two modes: a clamping and shearing mode and a grabbing mode; the function conversion cylinder (2) pushes the separation machine base (5) to move along the inclined guide rail groove, so that the distance between a hinged shaft C (12) and a hinged shaft D (11) of a double-rocker mechanism BCDE is changed, and the conversion between the clamping mode and the grabbing mode is realized; the double-rocker mechanism BCDE forms a group of metamorphic mechanisms in a clamping mode and a grabbing mode so that the cutter can be unfolded in a large range and movement interference can be prevented;

the cutting nippers are in a cutting mode: the function conversion cylinder (2) is contracted to drive the separating machine base (5) to move inwards along the inclined guide rail groove, the rear end of the pincer-like scissors tool (13) is driven to approach, the power cylinder (7) extends out to increase the distance between a hinge shaft A (19) and a hinge shaft B (9) of the sliding block rocker mechanism ABC, the pincer-like scissors tool (13) is driven to rotate inwards around a hinge shaft C (12) to be combined, the power cylinder (7) is contracted to reduce the distance between the hinge shaft A (19) and the hinge shaft B (9) of the sliding block rocker mechanism ABC, and the pincer-like scissors tool (13) is driven to rotate outwards around the hinge shaft C (12) to be opened;

the grabbing mode is as follows: the function conversion cylinder (2) extends out to drive the separating machine base (5) to move outwards along the oblique guide rail groove, the rear end of the scissors clamping tool (13) is driven to be far away, the hinge shaft C (12) is enabled to be close to the hinge shaft D (11), the power cylinder (7) extends out to drive the double-rocker mechanism BCDE to rotate inwards to drive the holding claw (10) to rotate inwards to combine, and the power cylinder (7) contracts to drive the double-rocker mechanism BCDE to rotate outwards to drive the holding claw (10) to rotate outwards to open.

2. The tong-shear-grab integrated accessory based on the metamorphic mechanism as claimed in claim 1, characterized in that: the two racks (4) are arranged at intervals from top to bottom, the rear ends of the two racks (4) are fixedly connected with the trunnion fixing piece (1) arranged in the middle through rack connecting pieces (14), and the cylinder bodies of the two function conversion cylinders (2) are hinged between the trunnion fixing piece (1) and the racks (4) respectively.

3. The forceps-shearing-grabbing integrated accessory based on the metamorphic mechanism as claimed in claim 1, characterized in that: frame (4) are including preceding support body and the back support body of interval arrangement around, preceding support body is connected through well support body with the back support body, articulated shaft D (11) are symmetrical setting in the preceding support body outer end.

4. The forceps-shearing-grabbing integrated accessory based on the metamorphic mechanism as claimed in claim 1, characterized in that: the outer end of back support body slopes forward and arranges, the slant guide rail groove sets up the outer end of back support body, near the rear end of separation frame (5) be provided with slant guide rail groove sliding fit's slider.

5. The forceps-shearing-grabbing integrated accessory based on the metamorphic mechanism as claimed in claim 1, characterized in that: the length direction of the separating base (5) is perpendicular to the extending direction of the inclined guide rail grooves, when a mode is determined and a system is subjected to external force, a pincer shear force is applied to a pincer shear tool (13), if the applied pincer shear force applies a moment to the center of a sliding block on the separating base (5), the sliding block on the separating base (5) is subjected to overturning moment, the inclined guide rail grooves on the rack (4) generate the overturning moment to the center of the sliding block on the separating base (5), the force is converted into friction force, namely self-locking force, in the direction parallel to the guide rail grooves in the rack (4) on the sliding block part in the separating base (5), so that the relative positions of the two are locked, and when the system is not subjected to the external force, the function conversion cylinder (2) can enable the separating base (5) and the rack (4) to move relatively, and further switch the mode.

6. The tong-shear-grab integrated accessory based on the metamorphic mechanism as claimed in claim 1, characterized in that: the scissors-type cutting tool (13) comprises a pair of pliers blades (16), a cutter connecting piece (15), a front cutting edge (18) and a middle cutting edge (17), wherein the cutter connecting piece (15) is arranged on the outer side of the pliers blades (16) and is provided with a hinge hole matched with the hinge shaft B (9), the front cutting edge (18) is detachably arranged at the front end of the inner side of the pliers blades (16), and the middle cutting edge (17) is detachably arranged in the middle of the inner side of the pliers blades (16).

7. The forceps-shearing-grabbing integrated accessory based on the metamorphic mechanism of claim 6, characterized in that: the clamp piece (16) is fixedly connected with the cutter connecting piece (15) through a bolt, and the clamp piece (16) is fixedly connected with the middle blade (17) and the front blade (18) through bolts respectively.

8. The forceps-shearing-grabbing integrated accessory based on the metamorphic mechanism as claimed in claim 1, characterized in that: the clamping claws (10) comprise two groups which are arranged at intervals up and down, and the scissors clamping tools (13) are arranged between the two groups of clamping claws (10).

9. A construction machine characterized in that: a tong-shear-grapple attachment comprising the metamorphic mechanism-based according to any one of claims 1 to 8.

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