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[CN 201610528099.1] Hydraulic manipulator suitable for tool change operation of shield machine
[CN 201610528099.1] A hydraulic mechanical arm suitable for tool change operation of shield machine Title: A hydraulic mechanical arm suitable for tool change operation of shield machine Application Number: CN 201610528099.1 Applicant: Northeastern University Application Date: 2016-7-6 Patent Type: Invention Application The present invention is a hydraulic mechanical arm suitable for tool change operation of shield machine, including: a base on which a waist is arranged, one side of the waist is connected with one end of the big arm, and the other end of the big arm is connected with one end of the middle arm, first and second hydraulic cylinders pivotally connected to each other are installed on the boom, the other end of the middle arm is connected with one end of the forearm, a third hydraulic cylinder is installed on the middle arm, a tool installation head is connected on the other end of the forearm, a fourth hydraulic cylinder is installed on the forearm, a hob grabbing tool is installed on one side of the tool installation head, and the hob grabbing tool includes a U-shaped base, one end of the fifth hydraulic cylinder is pivotally connected to the side wall of the U-shaped base, and the other end is pivotally connected to the grasping pliers. All parts of the mechanical arm are driven by hydraulic pressure, which has ultra-high load capacity and can easily grab the hob of the shield machine; the structure is simple and compact, the volume is small, and the movement is flexible, which can adapt to the space requirements of the tool change operation; the digital hydraulic technology is adopted, which can realize convenient and reliable control.
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