Hydraulic mechanical arm suitable for cutter changing operation of shield tunneling machine

Abstract

The invention discloses a hydraulic mechanical arm suitable for cutter changing operation of a shield tunneling machine. The hydraulic mechanical arm comprises a base. The base is provided with a waist part. One side of the waist part is connected with one end of a big arm, and the other end of the big arm is connected with one end of a middle arm. The big arm is provided with a first hydraulic cylinder and a second hydraulic cylinder which are in pivot joint. The other end of the middle arm is connected with one end of a front arm. A third hydraulic cylinder is installed on the middle arm. A tool installing head is connected to the other end of the front arm. The front arm is provided with a fourth hydraulic cylinder. A hobbing cutter grabbing tool is arranged on one side of the tool installing head and comprises a U-shaped base. Two symmetrically-arranged grabbing tongs are arranged on a cross beam of the U-shaped base. One end of a fifth hydraulic cylinder is in pivot joint to the side wall of the U-shaped base, and the other end of the fifth hydraulic cylinder is in pivot joint with the grabbing tongs. All parts of the mechanical arm are hydraulically driven, super-high load capability is achieved, and a hobbing cutter of the shield tunneling machine can be easily grabbed. The hydraulic mechanical arm is simple and compact in structure, small in size, flexible in movement and capable of meeting the requirement for the cutter changing operation space. The digital hydraulic technology is adopted, and convenient and reliable control can be achieved.

Description

Technical field: [0001] The invention relates to the technical field of engineering machinery, in particular to a hydraulic mechanical arm suitable for tool changing operations of a shield machine. Background technique: [0002] The shield machine tool changing robot system needs to be equipped with a mechanical arm to perform specific tool changing tasks. The types and functions of traditional mechanical arms are relatively rich, but at present there is no mechanical arm product that can well adapt to the task of changing the tool of the shield machine. For the excavation cabin, air cushion cabin and man lock cabin, the tool change operation is carried out in the excavation cabin. Due to the limitation of the structure of the excavation cabin, the tool changing operation space is narrow, the working environment is harsh, and the weight of the single tool is large. The existing The mechanical arm is usually large in size, has high requirements for the working environment, a...

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Problems solved by technology

The types and functions of traditional mechanical arms are relatively rich, but at present there is no mechanical arm product that can well adapt to the task of changing the tool of the shield machine. For the excavation cabin, air cushion cabin and man lock cabin, the tool change operation is carried out in the excavation cabin. Due to the limitation of the structure of the excavation cabin, the tool changing operation space is narrow, the working environment is harsh, and the weight of the single tool is large. The existing The mechanical arm is usually large in size, has high requirements for the working environment, and the load capacity is relatively insufficient, so it is not very suitable for the tool change operation of the shield machine; for example, the mechanical arm used for deep sea operations requires high control accuracy And ultra-high pressure tolerance, the price is expensive but the load capacity is slightly insufficient. On the one hand, it causes a waste of resources when using it for tool changing operations. On the other hand, it cannot adapt to large-diameter hobs, and its use is very limited.

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