A grabbing, traction and lifting device for rescue

Abstract

The present invention relates to a grabbing, traction and lifting attachment for rescue, which is special in that it comprises a control system part, an oil circuit switching part, a slewing control part, a grabbing part and a traction and lifting part; the slewing control part comprises a box body, a hydraulic cycloid motor installed in the box body, a meshing pinion is installed at the end of the output end of the hydraulic motor, the slewing bearing is fixedly installed on the outside of the box body, and the meshing pinion is meshed with the gear ring of the slewing bearing; the oil inlet end of the oil separator is fixed in the box body, and the oil separation end of the oil separator is arranged on the outside of the box body; the control system part is connected with the hydraulic cycloid motor and the oil separator respectively through the oil circuit; the oil circuit switching part is fixed to the box body, and the oil circuit switching part is connected with the control system part through the oil circuit; the grabbing part is installed on the gear ring of the slewing bearing, and the oil separator is connected with the grabbing part through the oil circuit; the traction and lifting part is fixed on the grabbing part, and the oil separator is connected with the grabbing part through the oil circuit.

Description

Technical Field

[0001] The invention relates to a grabbing, traction and lifting attachment for rescue, belonging to the technical field of rescue equipment. Background Art

[0002] For life rescue in catastrophic environments, traditional single-function accessories have many defects in environmental adaptability, switching timeliness, rescue professionalism, and compatibility with large-scale general-purpose engineering machinery, making it difficult to meet the requirements of front-line rescue. Traditional rescue equipment is mostly small, portable manual rescue equipment, which requires a lot of manpower, has low equipment power, long working hours, low rescue efficiency, and limited rescue scope. Rescue accessories for large-scale general-purpose engineering machinery are also mainly single-function accessories, and their functions are mainly for earthwork projects, not rescue purposes. They have shortcomings such as poor environmental adaptability, long switching time, low accuracy and stability, and weak rescue professionalism. Their docking technology is also relatively backward, and the switching time between different accessories is long, which often misses the best rescue time. Therefore, it is particularly necessary to develop a multifunctional rescue accessory and electromechanical-hydraulic integrated control system that can adapt to complex rescue environments and can quickly dock with general-purpose large-scale engineering machinery equipment. Summary of the invention

[0003] The present invention aims to solve the problems that the existing rescue accessories have single functions and are not suitable for large-scale engineering equipment, and provides a rescue grabbing, traction and lifting accessory. Its purpose is to solve the problems that the existing rescue accessories have single functions, time-consuming replacement, low working efficiency, and multiple pipelines, and aims to achieve two main oil circuits to control one accessory with grabbing, traction, and lifting functions at the same time.

[0004] The technical solution of the present invention to solve the above technical problems is as follows: a rescue grabbing, traction and lifting attachment, which is special in that it includes a control system part, an oil circuit switching part, a slewing control part, a grabbing part and a traction and lifting part; the slewing control part includes a box body, a hydraulic cycloid motor installed in the box body, the output end of the hydraulic cycloid motor passes through the wall plate of the box body, a meshing pinion is installed at the end of the output end of the hydraulic cycloid motor, the meshing pinion is matched with the hydraulic cycloid motor by a spline connection, the slewing bearing is fixedly installed on the outside of the box body, and the meshing pinion and the slewing bearing The gear ring is meshed with the gear ring of the slewing bearing; the oil inlet end of the oil separator is fixed in the casing, the oil separator end is arranged on the outside of the casing, and the oil separator end is located at the center of the slewing bearing; the control system part is fixed to the casing, and the control system part is connected with the hydraulic cycloid motor and the oil separator through the oil circuit respectively; the oil circuit switching part is fixed to the casing, and the oil circuit switching part is connected with the control system part through the oil circuit; the grabbing part is installed on the gear ring of the slewing bearing, and the oil separator is connected with the grabbing part through the oil circuit; the traction and lifting part is fixed on the grabbing part, and the oil separator is connected with the grabbing part through the oil circuit.

[0005] On the basis of the above technical solution, in order to achieve the convenience of use and the stability of the equipment, the present invention can also make the following improvements to the above technical solution:

[0006] Furthermore, a first control valve block is also provided in the box body, and the first control valve block is connected to the hydraulic cycloid motor, and is usually installed together in a fixed installation manner, and the first control valve block is installed at the liquid inlet end of the hydraulic cycloid motor.

[0007] Furthermore, the hydraulic cycloid motor is fixed on a fixing seat, and the fixing seat is fixed in the box.

[0008] Furthermore, the control system part includes a valve body, an O-type center-position three-position four-way reversing valve, a Y-type center-position three-position four-way reversing valve A and a Y-type center-position three-position four-way reversing valve B; a pressure reducing valve and a pressure measuring joint are provided on the valve body, and the valve body divides the two oil circuits into six circuits, two of which are connected to the O-type center-position three-position four-way reversing valve, two are connected to the Y-type center-position three-position four-way reversing valve A, and the last two are connected to the Y-type center-position three-position four-way reversing valve B.

[0009] Furthermore, the control system part is installed on the outside of the box through a U-shaped bracket, and the bracket is fixed on the box.

[0010] Furthermore, the grabbing part includes a connecting seat, which adopts a box-type structure; the connecting seat is fixedly mounted on the gear ring of the slewing bearing, the oil separating end of the oil separator is arranged in the connecting seat, and the oil separating end of the oil separator limits the relative rotation of the oil separator body and the core body through a limit block, the large gripper is hingedly mounted on the connecting seat through a pin A, and the small gripper is hingedly mounted on the connecting seat through a pin B, the large gripper and the small gripper are arranged on opposite sides of the connecting seat, and the two ends of the hydraulic cylinder are hingedly mounted with the large gripper and the small gripper through a pin C and a pin D respectively, the hydraulic cylinder is located inside the connecting seat, and the hydraulic cylinder control valve block is installed on the hydraulic cylinder.

[0011] Furthermore, the traction and lifting part includes a hydraulic winch, a steel wire rope installed on the hydraulic winch, a hook fixed to the end of the steel wire rope, a machine base of the hydraulic winch fixed to a connecting seat, and a winch cycloidal motor of the hydraulic winch connected to an oil distributor through an oil circuit.

[0012] Furthermore, the oil circuit switching part includes a connecting seat, a valve body B, a quick-plug male connector and a circuit male connector; the connecting seat includes a connecting seat base plate and a pair of connecting seat ear plates, the connecting seat ear plates are arranged vertically to the connecting seat, the valve body B is fixed on the connecting seat base plate, and the valve body B is provided with a quick-plug male connector and a circuit male connector.

[0013] The advantages of the present invention are: based on the research on the obstacle removal work and the attachment docking technology during the rescue process, a multifunctional rescue attachment integrating the functions of grabbing, traction and lifting is invented. The grabbing part is a rotating hydraulic grab, which has a compact structure, a wide grabbing range, a large grabbing load, a small closed space, and a firm grabbing. It can grab the regular-shaped and long-length concrete slabs, concrete columns, load-bearing beams, etc. at the rescue site. The traction and lifting part is a hydraulic winch, which can remove the irregular-shaped or large-volume concrete slabs that the hydraulic grab cannot grab. The winch has a hydraulic brake module, and the lifting and lowering process operates smoothly and has low noise. This lifting method has a narrow impact, is safe and reliable, and can avoid the insecurity and instability of the excavator arm acting as a traction and lifting device. Secondly, it can achieve refined operations that the excavator arm cannot achieve, avoiding secondary injuries to personnel; the integration of machinery, electricity and hydraulics can realize the rapid docking of attachments, reduce the cutting time, and the reversing valve controls the oil circuit on and off and reversing, which greatly simplifies the use of hydraulic pipelines and improves the stability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the three-dimensional structure of a new type of grabbing, traction and lifting equipment for rescue in this application;

[0015] Figure 2 It is a schematic diagram of the installation structure of the valve body, the O-type center position three-position four-way reversing valve, the Y-type center position three-position four-way reversing valve A and the Y-type center position three-position four-way reversing valve B;

[0016] Figure 3 This is a schematic diagram of the mounting bracket structure for the reversing valve;

[0017] Figure 4 It is a schematic diagram of the connection between the control system, the oil distributor and the hydraulic cycloidal motor;

[0018] Figure 5 It is a schematic diagram of the oil circuit switching structure;

[0019] Figure 6 for Figure 5 A in the enlarged view;

[0020] Figure 7 This is a schematic diagram of the oil circuit quick change structure;

[0021] Figure 8 It is a schematic diagram of the rotating part structure;

[0022] Fig. 9 It is a schematic diagram of the structure of the grabbing part in the open state;

[0023] Fig.10 It is a schematic diagram of the structure of the closed relationship of the capture part;

[0024] Fig.11This is a schematic diagram of the structure of the traction and hoisting part;

[0025] Fig.12 is a schematic diagram of the structure of the first control valve block;

[0026] Fig.13 It is a schematic diagram of the structure of the hydraulic cylinder control valve block;

[0027] Fig.14 This is a schematic diagram of the installation position structure of the limit block on the oil separator;

[0028] Fig.15 This is a hydraulic principle diagram of a new type of grabbing, traction and lifting equipment for rescue;

[0029] Fig.16 It is a schematic diagram of the hydraulic principle of the opening action of the grabbing moving part;

[0030] Fig.17 This is a schematic diagram of the hydraulic principle of the closing action of the grab moving part;

[0031] Fig.18 It is a schematic diagram of the hydraulic principle of the lifting process of the traction part;

[0032] Fig.19 Schematic diagram of the hydraulic principle of the lower process of the traction part

[0033] Fig. 20 It is a schematic diagram of the hydraulic principle of the forward rotation process of the rotary action of the rotary control part;

[0034] Fig.21 This is a schematic diagram of the hydraulic principle of the reversal process of the rotation action of the slewing control part.

[0035] The reference numerals are recorded as follows: 1-control system part, 2-oil circuit switching part, 3-slewing control part, 4-grabbing part, 6-traction and lifting part, 7-O-type center position three-position four-way reversing valve, 8-Y-type center position three-position four-way reversing valve A, 9-Y-type center position three-position four-way reversing valve B, 10-pressure reducing valve, 11-pressure measuring joint, 12-bracket, 13-connecting seat, 14-valve body B, 15-quick plug male connector, 16-circuit male connector, 17-box, 18-hydraulic swing Line motor, 19-first control valve block, 20-fixed seat, 21-slewing bearing, 22-engaging pinion, 23-gear cover, 24-bearing A, 25-bearing B, 26-connecting seat, 27-large gripper, 28-small gripper, 29-hydraulic cylinder, 30-hydraulic cylinder control valve block, 31-oil separator, 32-limit block, 33-pin A, 34-pin B, 35-pin C, 36-pin D, 37-hydraulic winch, 38-wire rope, 39-hook. DETAILED DESCRIPTION

[0036] The principles and features of the present invention are described below in conjunction with the accompanying drawings. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0037] A new type of rescue grabbing, traction and lifting equipment (see Figure 1 ), mainly composed of a control system part 1, an oil circuit switching part 2, a rotation control part 3, a grabbing part 4, and a traction and lifting part 5;

[0038] Control system part 1 (see Figure 2-4 ) includes a valve body 6, an O-type mid-position three-position four-way reversing valve 7, a Y-type mid-position three-position four-way reversing valve A 8, a Y-type mid-position three-position four-way reversing valve B 9, a pressure reducing valve 10 and a pressure measuring joint 11. The valve body 6 is designed to divide the two oil circuits into six circuits, which greatly saves the use of pipelines. The pressure reducing valve 10 is provided to effectively control the oil pressure of the oil circuit to avoid system overload and damage to the motor. In addition, a pressure measuring interface is provided to facilitate monitoring the oil pressure of the pipeline at any time to ensure the stability of the oil circuit system; the six oil circuits divided by the valve body 6, two of which pass through the O-type mid-position three-position four-way reversing valve 7 to control the on-off and reversing of the grabbing part of the oil circuit. When the reversing valve returns to the mid-position, the oil circuit will be immediately interrupted and the gripper stops moving, thereby improving the safety of the operation; the other two pass through the Y-type mid-position three-position four-way reversing valve A 8 to control the on-off and reversing of the traction and lifting part of the oil circuit, and the last two pass through the Y-type mid-position three-position four-way reversing valve B 9, used to control the on-off and reversing of the rotary oil circuit. When the Y-type center position reversing valve returns to the center position, the oil inlet is interrupted, the oil return chamber remains unobstructed, and the rotary motor is in a floating state without bearing the braking load, which is beneficial to protect the motor from damage; O-type center position three-position four-way reversing valve 7, Y-type center position three-position four-way reversing valve A 8, and Y-type center position three-position four-way reversing valve B 9 are installed on the valve body 6, and the valve body 6 is fixed to the box body 17 through the bracket 12;

[0039] Oil circuit switching part 2 (see Figure 5 , 6) includes a connecting seat 13, a valve body B14, a quick-plug male connector 15, and a circuit male connector 16. When working, the hydraulic oil provided by the main oil pump of the excavator drives the oil circuit quick change, and the oil circuit quick change is quickly connected with the oil circuit switching part. The valve block on the oil circuit quick change has a quick-plug female connector and a circuit female connector. The quick-plug female connector is connected with the quick-plug male connector 15 on the valve block B14 to achieve oil circuit connection. The circuit female connector is connected with the circuit male connector 16 on the valve block B14 to achieve circuit connection, thereby completing the connection between the excavator and the attachment. The connection time is about 1-4s. The oil circuit switching system is not only time-saving and efficient, but also has reliable sealing and stable oil circuit and circuit systems. The connection seat bottom plate of the connection seat 13 is connected to the box body 17 of the rotary part; the quick-insert male connector 15 and the circuit male connector 16 are installed on the valve body B14, the valve body B14 is fixed on the connection seat bottom plate of the connection seat 13, a pair of connection seat ear plates are arranged on the connection seat bottom plate, the connection seat ear plates are arranged perpendicular to the connection seat, the valve body B14 is fixed on the connection seat bottom plate, and the quick-insert male connector 15 and the circuit male connector 16 are arranged on the valve body B14;

[0040] Rotation control part 3 (see Figure 7 ) includes a housing 17, a hydraulic cycloid motor 18, a first control valve block 19, a fixed seat 20, a slewing bearing 21, a meshing pinion 22, a gear cover plate 23, a bearing A 24, and a bearing B 25; the slewing bearing 21 adopts a single-row four-point contact ball structure, an internal gear type, a compact structure, and a light weight, and can simultaneously withstand axial force, radial force, and tipping moment. The upper end of the slewing bearing 21 is fixed to the lower end of the housing 17. The first control valve block 19 adopts a valve block with double balance and double overflow functions. The first control valve block 19 is used to ensure the stability of the motor operation. The double balance can keep the motor in place when the oil circuit is suddenly interrupted to avoid personal injury caused by the inertial rotation of the rescue attachments. The double overflow plays the role of overload protection, which can limit the maximum pressure of the system to avoid excessive oil pressure and damage to the motor. The first control valve block 19 is installed on the hydraulic cycloid motor 18. The motor 18 is a low-speed, high-torque motor with stable operation. It can be used in conjunction with the slewing bearing 21 and the meshing pinion 22 to achieve 360° unlimited free rotation of the hydraulic gripper. The hydraulic cycloid motor 18 is installed on the fixed seat 20 and fixed on the box 17 together with the fixed seat 20. The meshing pinion 22 is used in conjunction with the hydraulic cycloid motor 18 using a spline connection. This connection method has a large contact area, can withstand a large load, and has high strength. Bearing A is installed between the upper end of the meshing pinion and the fixed seat 20, and bearing B is installed between the lower end and the gear cover. The double-bearing structure ensures the centration and smooth rotation of the gear. The gear cover 23 is fixed to the lower end of the fixed seat 20.

[0041] Grab part 4 (see Figure 8 , 9) includes a connecting seat 26, a large gripper 27, a small gripper 28, a single hydraulic cylinder 29, a hydraulic cylinder control valve block 30, an oil distributor 31, a limit block 32, a pin A 33, a pin B 34, a pin C 35, and a pin D 36. One end of the large gripper 27 and the small gripper 28 are respectively hinged to the two sides of the connecting seat 26 through the pin A 33 and the pin B 34, and the other end is respectively hinged to the two ends of the single hydraulic cylinder 29 through the pin C 35 and the pin D 36. When the piston rod of the hydraulic cylinder 29 is in a fully retracted state, the hydraulic gripper is in a maximum opening state, and can grasp objects with a width of no more than 1800mm, with a large grasping range and a high grasping load; when the piston rod of the hydraulic cylinder 29 is in a fully extended state, the hydraulic gripper is in a closed state. At this time, the closed space S between the large gripper and the small gripper is particularly small, and the structure is compact, so that the grasping is more firm and reliable. The hydraulic cylinder control valve block 30 adopts a valve block with a single balancing function, and a single balancing valve core is installed on the valve block. When the oil circuit is interrupted during the grasping process, the single balancing valve will interrupt the oil return channel to maintain the oil pressure balance between the rod chamber and the rodless chamber of the hydraulic cylinder 29 to avoid the claw falling phenomenon. The control valve block is installed on the single hydraulic cylinder 29. The oil distributor 31 is composed of a core, a main body, an oil seal, and an elastic retaining ring for the shaft. Its upper end is installed on the rotating part box 17, and its middle part is limited by a limit block 32. The limit block 32 is installed on the connecting seat 26. When the hydraulic cycloidal motor 18 drives the slewing bearing 21 to rotate, the oil distributor core will rotate relatively. Due to the limiting effect of the limit block 32, the oil distributor body remains in place. This structure can keep the pipeline in place during the rotation process, avoid the phenomenon of pipe winding, and is conducive to the stability of the oil circuit.

[0042] Traction lifting part 5 (see Fig.10 ) includes a hydraulic winch 37, a wire rope 38, and a hook 39. The hydraulic winch 37 is fixed on the side boss of the grabbing part connecting seat 26. The high-pressure shuttle valve inside can release the brake in time through pressure comparison, and the balance valve plays the role of a "hydraulic lock" to prevent the winch from sliding down again and the empty hook from shaking. The hydraulic winch has the advantages of compact structure, small size, light weight, high working efficiency, safety and stability.

[0043] Working principle:

[0044] See also Figure 14-20The control system includes a valve body, an O-type center position three-position four-way reversing valve, a Y-type center position three-position four-way reversing valve A and a Y-type center position three-position four-way reversing valve B; a pressure reducing valve and a pressure measuring joint are provided on the valve body, and the valve body divides the two oil circuits into six circuits, two of which are connected to the O-type center position three-position four-way reversing valve, two are connected to the Y-type center position three-position four-way reversing valve A, and the last two are connected to the Y-type center position three-position four-way reversing valve B. The valve body is combined with three three-position four-way electromagnetic reversing valves to realize the switching of the oil circuit, which greatly simplifies the use of the oil circuit system and pipelines. When the excavator is working, the oil circuit quick change and oil circuit switching parts quickly complete the oil circuit, circuit connection and mechanical connection, and the excavator and accessories are successfully docked. The hydraulic oil supplied by the main pump of the excavator enters the control system valve body through the oil circuit quick change and is divided into six routes. Four of the hydraulic oils are used to drive the hydraulic motor of the winch and the hydraulic cylinder of the hydraulic grab through the oil distributor to achieve traction, lifting and grabbing actions. The reversing valve that controls the grabbing action adopts O-type neutral control. When the inlet and return oil circuits are cut off, the brake can be quickly braked. This control method improves safety while ensuring the stability of the grabbing action; the traction and lifting part selects the Y-type neutral control system to avoid excessive braking under load and the inertia force to produce a large hydraulic shock. This control method can make the hydraulic motor in a floating state when the reversing valve returns to the neutral position, and then use the brake function to stop it from rotating smoothly. The other two oils are used to drive the hydraulic cycloid motor to achieve 360° unlimited free rotation of the hydraulic grab. The rotating part also adopts the Y-type neutral reversing valve. When the oil inlet channel is cut off, the motor can be stopped smoothly to avoid damage to the motor. This control system realizes the versatility of rescue accessories without increasing the main engine oil circuit, greatly simplifies the pipeline, and makes the operation more convenient and quick. The specific working status is as follows:

[0045] The process of claw opening: the hydraulic oil supplied by the main pump enters the oil distributor through the O-type middle position three-position four-way reversing valve, and then enters the rod chamber of the oil cylinder. At the same time, the pilot is opened to push the piston from the high-pressure chamber to the low-pressure chamber. The hydraulic oil in the low-pressure chamber returns to the oil tank through the balance valve, completing the cylinder contraction action and the claw opens. If the hydraulic oil supplied by the main pump is suddenly interrupted during this process, the hydraulic oil in the rodless chamber cannot return to the oil tank through the balance valve because the pressure guide is not opened. The claw remains in place, avoiding the occurrence of claw drop.

[0046] The process of claw closing: the hydraulic oil supplied by the main pump enters the oil separator through the O-type center three-position four-way reversing valve, and then enters the rodless chamber of the cylinder through the balancing valve (free flow part). The pressure guide is not turned on, pushing the piston from the high-pressure chamber to the low-pressure chamber. The hydraulic oil in the low-pressure chamber returns to the oil tank, completing the cylinder extension action and closing the claw.

[0047] Lifting process: The hydraulic oil supplied by the main pump enters the oil separator through the Y-type center three-position four-way reversing valve A. After passing through the oil separator, the hydraulic oil enters the high-pressure shuttle valve. Since the oil pressure at port 1 is greater than the oil pressure at port 2, the piston moves from port 1 to port 2, opening channels 1 to 3. The hydraulic oil enters the brake, compressing the spring and releasing the motor brake. At the same time, the hydraulic oil enters the motor through the balance valve (free flow part), driving the motor to rotate in reverse, and the low-pressure oil returns to the oil tank to complete the wire rope lifting action.

[0048] Lowering process: The hydraulic oil supplied by the main pump enters the oil distributor through the Y-type mid-position three-position four-way reversing valve A, and then enters the high-pressure shuttle valve through the oil distributor. At this time, the oil pressure at port 1 is less than the oil pressure at port 2, so the piston moves from port 2 to port 1, opening the channel from 2 to 3, and the hydraulic oil enters the brake to compress the spring, release the motor brake, and open the pilot at the same time. The hydraulic oil enters the motor, driving the motor to rotate clockwise, and the internal low-pressure oil returns to the oil tank through the balance valve to complete the wire rope lowering action. If the hydraulic oil supplied by the main pump is suddenly interrupted during this process, the circuit is interrupted because the pressure guide is not opened, the oil pressure at both ends of the high-pressure shuttle valve is balanced, the brake spring is reset, the brake is opened, the motor stops rotating, and the hoisted object remains in place, avoiding the danger caused by sudden sliding.

[0049] Forward rotation process: the hydraulic oil supplied by the main pump enters the control valve block through the Y-type center-position three-position four-way reversing valve B. If the oil pressure supplied by the main pump is greater than the opening set pressure of the relief valve at this time, the relief valve is opened to remove the overload so that the system oil pressure does not exceed the maximum set pressure at all times. The hydraulic oil that meets the pressure requirements enters the motor through the balance valve (free flow part) and opens the pilot at the same time to drive the motor to rotate. The low-pressure oil inside the motor returns to the oil tank through the balance valve to complete the forward rotation action. If the hydraulic oil supplied by the main pump is suddenly interrupted during this process, the pressure guide is not opened and the circuit is interrupted. The hydraulic motor will slowly stop rotating and the gripper will maintain its original angle unchanged.

[0050] Reversal process: The hydraulic oil supplied by the main pump enters the control valve block through the Y-type center-position three-position four-way reversing valve B. If the oil pressure supplied by the main pump is greater than the opening set pressure of the relief valve at this time, the relief valve is opened to remove the overload so that the system oil pressure never exceeds the maximum set pressure. The hydraulic oil that meets the pressure requirements enters the motor through the balance valve (free flow part) and opens the pilot at the same time to drive the motor to rotate. The low-pressure oil inside the motor returns to the oil tank through the balance valve to complete the reversal action. If the high-pressure oil supplied by the main pump is suddenly interrupted during this process, the pressure guide is not opened and the circuit is interrupted. The hydraulic motor will slowly stop rotating and the gripper will maintain its original angle unchanged.

[0051] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A grabbing, traction and lifting device for rescue, characterized in that: It comprises a control system part (1), an oil circuit switching part (2), a rotation control part (3), a grabbing part (4) and a traction and lifting part (5); The slewing control part (3) comprises a housing (17), a hydraulic cycloidal motor (18) installed in the housing (17), the output end of the hydraulic cycloidal motor (18) passing through the wall plate of the housing (17), a meshing pinion (22) installed at the end of the output end of the hydraulic cycloidal motor (18), a slewing bearing (21) fixedly installed on the outside of the housing (17), the meshing pinion (22) meshing with the gear ring of the slewing bearing (21); the oil inlet end of the oil separator (31) is fixed in the housing (17), the oil separation end of the oil separator (31) is arranged on the outside of the housing (17), and the oil separation end of the oil separator (31) is located at the center of the slewing bearing (21); The control system part (1) is fixed to the box (17), and is connected to the hydraulic cycloid motor (18) and the oil distributor (31) through oil circuits. The control system part (1) comprises a valve body (6), an O-type center position three-position four-way reversing valve (7), a Y-type center position three-position four-way reversing valve A (8), and a Y-type center position three-position four-way reversing valve B (9); the valve body (6) divides the two oil circuits into six circuits, two of which are connected to the O-type center position three-position four-way reversing valve (7), and the other two are connected to the O-type center position three-position four-way reversing valve (7). The two paths are connected to the Y-type center position three-position four-way reversing valve A (8), which is used to control the on-off and reversing of the oil circuit of the traction and lifting part. The last two paths are connected to the Y-type center position three-position four-way reversing valve B (9), which is used to control the on-off and reversing of the oil circuit of the slewing part. When the Y-type center position reversing valve returns to the center position, the oil inlet is interrupted, the oil return chamber remains unobstructed, and the slewing motor is in a floating state and does not bear the braking load. The oil circuit switching part (2) is fixed to the housing (17), and the oil circuit switching part (2) is connected to the control system part (1) through the oil circuit; the grabbing part (4) is mounted on the gear ring of the slewing bearing (21), and the oil separator (31) is connected to the grabbing part (4) through the oil circuit; the traction and hoisting part (5) is fixed to the grabbing part (4), and the oil separator (31) is connected to the grabbing part (4) through the oil circuit.

2. The rescue grabbing, traction and lifting attachment according to claim 1, characterized in that: A first control valve block (19) is also arranged in the box body (17), and the first control valve block (19) is connected to the hydraulic cycloid motor (18).

3. The rescue grabbing, traction and lifting attachment according to claim 1 or 2, characterized in that: The hydraulic cycloid motor (18) is fixed on a fixing seat (20), and the fixing seat (20) is fixed in the box body (17).

4. The rescue grabbing, traction and lifting attachment according to claim 1, characterized in that: The control system part (1) is installed on the outside of the box (17) through a U-shaped bracket (12), and the bracket (12) is fixed on the box (17).

5. The rescue grabbing, traction and lifting attachment according to claim 1, characterized in that: The grabbing part (4) comprises a connecting seat (26), and the connecting seat (26) adopts a box-type structure; the connecting seat (26) is fixedly mounted on the gear ring of the slewing bearing (21); the oil separation end of the oil separator (31) is arranged in the connecting seat (26); the large claw (27) is hingedly mounted on the connecting seat (26) through a pin A (33); the small claw (28) is hingedly mounted on the connecting seat (26) through a pin B (34); the large claw (27) and the small claw (28) are arranged on opposite sides of the connecting seat (26); the two ends of the hydraulic cylinder (29) are hingedly mounted with the large claw (27) and the small claw (28) through a pin C (35) and a pin D (36) respectively; and the hydraulic cylinder (29) is located inside the connecting seat (26).

6. The rescue grabbing, traction and lifting attachment according to claim 1, characterized in that: The traction and lifting part (5) includes a hydraulic winch (37), a steel wire rope (38) installed on the hydraulic winch (37), a hook (39) fixed to the end of the steel wire rope (38), a machine base of the hydraulic winch (37) fixed to the connecting base (26), and a winch cycloidal motor of the hydraulic winch (37) connected to the oil distributor (31) through an oil circuit.

7. The rescue grabbing, traction and lifting attachment according to claim 1, characterized in that: The oil circuit switching part (2) comprises a connecting seat (13), a valve body B (14), a quick-insert male connector (15) and a circuit male connector (16); the connecting seat (13) comprises a connecting seat bottom plate and a pair of connecting seat ear plates, the connecting seat ear plates are arranged perpendicular to the connecting seat, the valve body B (14) is fixed on the connecting seat bottom plate, and the valve body B (14) is provided with a quick-insert male connector (15) and a circuit male connector (16).

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