Abrasive jet cutting anchor withdrawing vehicle and using method thereof

Abstract

The invention relates to the technical field of anchor withdrawing vehicles, and discloses an abrasive jet cutting anchor withdrawing vehicle and a using method thereof. The mechanical arm comprises an adjusting arm, a multi-section arm, an executing arm and an adjusting assembly; the adjusting assembly comprises a first connecting rod, a second connecting rod, a driving shaft and a hydraulic cylinder, one end of the first connecting rod is rotationally connected with the adjusting arm, one end of the second connecting rod is rotationally connected with the head section of the multi-section arm, and the other ends of the first connecting rod and the second connecting rod are rotationally connected through the driving shaft; the output end of the hydraulic cylinder is rotationally connected with the driving shaft. According to the abrasive jet cutting anchor withdrawing vehicle and the using method thereof, the mechanical arm is adjusted to be in the limit contraction state, and the moving convenience of the abrasive jet cutting anchor withdrawing vehicle in a roadway is greatly improved; the mechanical arm is adjusted to be in the ultimate extension state, and the high-altitude anchor cable withdrawing device can be suitable for high-altitude anchor cable withdrawing under the condition that the requirement for the overall length of the mechanical arm is small.

Description

Technical Field

[0001] This invention relates to the field of anchor removal vehicle technology, and more specifically, to an abrasive jet cutting anchor removal vehicle and its usage method. Background Technology

[0002] During the longwall mining process in coal mines, the anchor removal operation is a core link in ensuring roof safety management. As the working face advances, the anchor cables in the advanced support section of the roadway need to be removed in a timely manner to ensure that the roof in the goaf falls as it is mined, preventing roof accidents and gas accumulation risks caused by excessive roof clearance.

[0003] A Chinese patent with publication number CN109026098A discloses a hydraulic anchor removal vehicle. In this design, one end of the hydraulic cylinder is rotatably connected to the turntable via a hydraulic cylinder fixing lug, and the other end is rotatably connected to the rotating arm via a hydraulic cylinder connecting lug. The rotation adjustment of the rotating arm and the telescopic arm is completed by the extension and retraction of the hydraulic cylinder. Both the rotating arm and the telescopic arm are L-shaped structures. However, the mechanical arm of this anchor removal vehicle cannot be folded and retracted, which is not conducive to the movement of the anchor removal vehicle in the roadway. Furthermore, the rotating arm and the telescopic arm cannot be adjusted to a vertical state. When removing high anchor cables, there are higher requirements for the extension length of the rotating arm and the telescopic arm. In narrow roadway conditions, the anchor removal vehicle cannot complete the anchor removal work of high-altitude anchor cables. Summary of the Invention

[0004] The purpose of this invention is to overcome the defects in the prior art and provide an abrasive jet cutting anchor removal vehicle and its usage method that can both fold and retract the robotic arm and adjust the robotic arm to a vertical state.

[0005] To achieve the above objectives, the technical solution of the present invention is to provide an abrasive blasting cutting anchor removal vehicle, comprising: The machine body is equipped with a swing actuator; The robotic arm includes an adjusting arm, a multi-segment arm, an actuator arm, and an adjustment assembly. One end of the adjusting arm is driven and connected to the swing actuator, and the other end of the adjusting arm is rotatably connected to the first segment of the multi-segment arm. One end of the actuator arm is driven and connected to the last segment of the multi-segment arm via a wrist joint. The adjustment assembly includes a first connecting rod, a second connecting rod, a drive shaft, and a hydraulic cylinder. One end of the first connecting rod is rotatably connected to the adjusting arm, and one end of the second connecting rod is rotatably connected to the first section of the multi-section arm. The other ends of the first connecting rod and the second connecting rod are rotatably connected through the drive shaft. The fixed end of the hydraulic cylinder is rotatably connected to the adjusting arm, and the output end of the hydraulic cylinder is rotatably connected to the drive shaft. An abrasive jet cutting assembly, mounted at the other end of the actuator arm, is used to cut the steel strand between the clamp and the tray.

[0006] Preferably, the multi-segment arm includes a large arm and a forearm, which are connected by an elbow joint. The large arm and forearm are arranged along the width of the machine body. The large arm is rotatably connected to the adjusting arm, and the end of the forearm away from the elbow joint is connected to the wrist joint. This design results in a shorter overall length for the abrasive blasting cutting anchor removal vehicle in its extreme retraction state, which is beneficial for its movement within the tunnel.

[0007] Preferably, both the upper arm and the lower arm are telescopic arms. This design helps to reduce the height of the abrasive blasting cutting anchor removal vehicle in its extreme contraction state, facilitating its movement within the tunnel and allowing for easier extension of the robotic arm within the tunnel.

[0008] Preferably, a first connecting frame is provided on the side of the adjusting arm near the main arm, and a second connecting frame is provided on the side of the main arm near the adjusting arm. The main arm is rotatably connected to the first connecting frame via the second connecting frame. This design allows for reserved installation space for the adjustment component between the adjusting arm and the main arm, preventing interference between the robotic arm and the adjustment component.

[0009] Preferably, the width of the adjusting arm is greater than the width of the main arm, and the second connecting rod is arc-shaped, bending towards the first connecting rod. This design helps optimize the stress distribution of the second connecting rod under load and improves its service life.

[0010] Preferably, a camera is fixedly mounted on the actuator arm. This design helps improve the alignment efficiency of the abrasive jet cutting assembly.

[0011] Preferably, the adjusting arm is equipped with a lighting assembly, which includes a fixed frame, a rotating frame, and a light source. The fixed frame is fixedly mounted on the adjusting arm, the rotating frame is rotatably mounted on the fixed frame, and the light source is fixedly mounted on the rotating frame. This design facilitates the safe movement of the abrasive blasting cutting anchor removal vehicle in the tunnel and also facilitates the alignment of the abrasive blasting cutting assembly.

[0012] Preferably, the machine body is provided with a support leg unit near one end of the robotic arm. Two sets of support leg units are provided along the width of the machine body, with each set located on one side of the robotic arm. Each set of support leg units includes a rotating arm, a hydraulic cylinder, and a foot. The rotating arm is rotatably connected to the machine body. The fixed end of the hydraulic cylinder is fixedly connected to the end of the rotating arm away from the machine body. The foot is mounted to the output end of the bottom of the hydraulic cylinder via a universal ball hinge. This design, by adjusting the support leg units, can improve the overall stability of the abrasive blasting cutting anchor removal vehicle.

[0013] Preferably, the machine body is equipped with an abrasive tank and a pressure booster. The abrasive tank is connected to the pressure booster via a connecting pipe, and the pressure booster is connected to the nozzle of the abrasive jet cutting assembly via a high-pressure hose. This design helps improve the safety of anchor removal operations.

[0014] A method for using an abrasive blasting cutting anchor removal machine includes the following steps: S1. The abrasive blasting cutting anchor removal vehicle moves to the area near the anchor cable; S2. The robotic arm drives the gun head to align with the upper end of the anchor ring; S3. The abrasive blasting cutting assembly cuts a notch in the anchor ring between the clamp and the tray and cuts the steel strand along the depth direction of the notch. This design helps save energy and improves the efficiency of abrasive blasting cutting for anchor removal.

[0015] The beneficial effects of this invention are as follows: By using the abrasive blasting cutting anchor removal machine and its method described in this invention, the space occupied by the abrasive blasting cutting anchor removal machine is greatly reduced, and the convenience of moving the abrasive blasting cutting anchor removal machine in the tunnel is greatly improved. This is achieved by adjusting the robotic arm to its maximum retracted state, making the included angle between any two adjacent arm segments in the adjusting arm, multi-section arm, and executing arm 0°, and the included angle between the execution arm and the end segment of the multi-section arm 90°, with the execution arm located on the side of the multi-section arm closer to the machine body. By adjusting the robotic arm to its maximum extended state, making the included angle between any two adjacent arm segments in the adjusting arm, multi-section arm, and execution arm 180°, and extending the robotic arm to a vertical state, the abrasive blasting cutting anchor removal machine occupies a smaller area on the horizontal plane. This allows it to be used for anchor removal of high-altitude anchor cables with relatively small requirements for the overall length of the robotic arm, and it can adapt to narrow tunnel conditions, improving the cost-effectiveness and applicability of the abrasive blasting cutting anchor removal machine. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the abrasive jet cutting anchor removal vehicle (in idle condition). Figure 2 This is a partial 3D structural diagram of the abrasive jet cutting anchor removal vehicle (excluding the machine body). Figure 3 yes Figure 2 Side view of the structure shown; Figure 4 yes Figure 2 The front view of the structure shown; Figure 5 This is a schematic diagram of the first extension structure of a robotic arm; Figure 6 This is a schematic diagram of the second extension structure of the robotic arm; Figure 7 This is a cross-sectional view of the anchor cable (the dotted line in the figure represents the inclined nozzle). Figure 8 This is a three-dimensional structural diagram of the adjusting arm; Figure 9 This is a three-dimensional structural diagram of the upper arm; Figure 10 This is a three-dimensional structural diagram of the mounting bracket; Figure 11 This is a three-dimensional structural diagram of the rotating frame; Figure 12 It is a three-dimensional structural diagram of the organism; Figure 13 This is a three-dimensional structural diagram of the abrasive jet cutting component; Figure 14 yes Figure 11 A side sectional view; Figure 15 It is a three-dimensional structural diagram of the drive unit, the swing shaft, and the third bearing; Figure 16 It is a three-dimensional structural diagram of the pendulum plate, the swing shaft, the eccentric column, the first bearing, and the connecting shaft; Figure 17 yes Figure 16 A top-down view; Figure 18 This is a three-dimensional structural diagram of the mounting base.

[0017] In the diagram: 100, machine body; 110, outrigger unit; 111, rotating arm; 112, hydraulic cylinder; 113, foot pad; 120, abrasive jar; 130, intensifier; 200. Oscillating actuator; 300. Robotic arm; 310. Adjusting arm; 311. First connecting frame; 320. Multi-section arm; 321. Main arm; 3211. Second connecting frame; 322. Forearm; 323. Elbow joint; 330. Executing arm; 340. Adjustment assembly; 341. First link; 342. Second link; 343. Drive shaft; 344. Hydraulic cylinder; 350. Wrist joint; 361. Connecting shaft; 362. First shaft; 363. Second shaft; 370. Camera; 380. Lighting assembly; 381. Fixing frame; 3811. Arc groove; 382. Rotating frame; 3821. Perforation; 383. Lighting lamp; 384. Fixing shaft; 400. Abrasive jet cutting assembly; 410. Mounting box; 420. Drive unit; 421. Swing plate; 4211. Through slot; 4212. Extrusion surface; 422. Eccentric component; 4221. Eccentric column; 4222. First bearing; 4223. Second bearing; 423. Drive component; 424. Connecting shaft; 430. Swing shaft; 440. Mounting base; 441. Mounting slot; 442. Lower base plate; 443. Upper base plate; 444. Clearance; 450. Gun head; 460. Third bearing; 510. Steel strand; 520. Anchor ring; 530. Wedge; 540. Retaining clamp; 550. Tray. Detailed Implementation

[0018] The subject matter described herein will now be discussed with reference to exemplary embodiments. It should be understood that these embodiments are discussed to enable those skilled in the art to better understand and implement the subject matter described herein. Changes may be made to the function and arrangement of the elements discussed without departing from the scope of this specification. Various processes or components may be omitted, substituted, or added as needed in the examples. Furthermore, features described in some examples may be combined in other examples.

[0019] To better understand this invention, the following is combined with... Figures 1-18 The present invention provides a detailed description of an abrasive jet cutting anchor removal vehicle and its usage method.

[0020] Example 1: like Figures 1-7 As shown, an abrasive blasting cutting anchor removal vehicle includes: The machine body 100 is equipped with a swing actuator 200; The robotic arm 300 includes an adjusting arm 310, a multi-segment arm 320, an execution arm 330, and an adjustment assembly 340. One end of the adjusting arm 310 is drivenly connected to the swing actuator 200, and the other end of the adjusting arm 310 is rotatably connected to the first segment of the multi-segment arm 320. One end of the execution arm 330 is drivenly connected to the end segment of the multi-segment arm 320 via a wrist joint 350. The adjustment assembly 340 includes a first connecting rod 341, a second connecting rod 342, a drive shaft 343, and a hydraulic cylinder 344. One end of the first connecting rod 341 is rotatably connected to the adjusting arm 310, and one end of the second connecting rod 342 is rotatably connected to the first section of the multi-section arm 320. The other ends of the first connecting rod 341 and the second connecting rod 342 are rotatably connected through the drive shaft 343. The fixed end of the hydraulic cylinder 344 is rotatably connected to the adjusting arm 310, and the output end of the hydraulic cylinder 344 is rotatably connected to the drive shaft 343. Abrasive jet cutting assembly 400 is installed at the other end of the actuator arm 330 for cutting the steel strand 510 between the clamp 530 and the tray 550.

[0021] It should be noted that the swing actuator 200 is set as a swing cylinder, thereby adjusting the adjusting arm 310 to complete the swing within the range of 0-180°, thereby driving the robotic arm 300 and the abrasive jet cutting assembly 400 to rotate, so that the abrasive jet cutting assembly 400 can be aligned for cutting, and the adjusting arm 310 is always in a vertical state; through the retraction adjustment of the hydraulic cylinder 344, the first connecting rod 341 and the second connecting rod 342 are moved, thereby making the first section of the multi-section arm 320 in a vertical state and forming a 0° angle with the adjusting arm 310. Each section of the multi-section arm 320 can be folded and retracted, thereby making all sections of the multi-section arm 320 in a vertical state, and the angle between two adjacent sections of the multi-section arm 320 is also 0°, thereby reducing the space occupied by the multi-section arm 320; The wrist joint 350 is a rotary joint. In the idle state, the wrist joint 350 is used to rotate and adjust the actuator arm 330, which in turn moves the abrasive blasting cutting assembly 400 so that the nozzle 450 of the abrasive blasting cutting assembly 400 faces downward, thereby reducing the amount of dust and impurities falling into the flow channel of the nozzle 450 and clogging the flow channel. During the operation of the abrasive blasting cutting anchor removal machine in the tunnel, the wrist joint 350 is used to rotate and adjust the actuator arm 330 so that the angle between the actuator arm 330 and the end section of the multi-section arm 320 is 90°, and the actuator arm 330 is located on the side of the multi-section arm 320 closer to the machine body 100, thereby further reducing the overall space occupation of the abrasive blasting cutting anchor removal machine and facilitating the movement of the abrasive blasting cutting anchor removal machine in the tunnel. At this time, the nozzle 450 of the abrasive blasting cutting assembly 400 faces upward. Furthermore, by adjusting the extension of the hydraulic cylinder 344, the first section of the multi-section arm 320 can be in a vertical position and form a 180° angle with the adjusting arm 310. The multi-section arm 320 adjusts itself to make the angle between two adjacent arm sections 180°. The actuator arm 330 adjusts the wrist joint 350 to form a 180° angle with the end section of the multi-section arm 320, thereby making the entire robotic arm 300 in a vertically extended position. This allows the abrasive blasting cutting anchor removal vehicle to be used for anchor removal at high altitudes, improving the applicability of the abrasive blasting cutting anchor removal vehicle. That is, the robotic arm 300 is set to have two extreme states: In the extreme retraction state, the angle between any two adjacent arm segments of the adjusting arm 310 and the multi-segment arm 320 is 0°, the angle between the execution arm 330 and the end segment of the multi-segment arm 320 is 90°, and the execution arm 330 is located on the side of the multi-segment arm 320 closer to the body 100. In the extreme extension state, the included angle between any two adjacent arm segments of the adjusting arm 310, multi-section arm 320 and actuator arm 330 is 180°.

[0022] The anchor cable includes a steel strand 510, an anchor ring 520, a wedge 530, a retaining band 540, and a tray 550. The steel strand 510 is formed by twisting multiple steel wires together according to a specific lay length and lay direction. The anchor ring 520 is provided with a conical hole. Multiple wedges 530 are provided, and multiple wedges 530 form a wedge-shaped fit with the conical hole. Multiple wedges 530 are circumferentially wrapped around the outer ring of the steel strand 510. During the process of the steel strand 510 pulling the wedges 530 into the conical hole, the wedges 530 lock the steel strand 510 by engaging with the conical hole. The height of the wedges 530 is less than the height of the anchor ring 520. After the wedges 530 lock the steel strand 510, the bottom of the wedges 530 protrudes from the bottom of the anchor ring 520. The end face of the tray 550 away from the anchor ring 520 is attached to the rock wall, thereby effectively increasing the contact area between the anchor cable and the surrounding rock, and thus improving the support effect. The retaining hoop 540 is located between the anchor ring 520 and the tray 550 to ensure that the tension of the anchor cable is evenly distributed to the surrounding rock along the tray 550. After the abrasive jet cutting assembly 400 cuts the steel strand 510 between the clamp 530 and the tray 550, the anchor ring 520 and the clamp 530 fall down naturally, and the retaining band 540 and the tray 550 fall down accordingly, thus completing the anchor removal work. During the cutting process, the jet of the abrasive jet cutting assembly 400 first cuts the anchor ring 520 with a cut, and continues to cut along the depth direction of the cut until the steel strand 510 between the clamp 530 and the tray 550 is cut off.

[0023] In this embodiment, the adjusting arm 310 is rotatably connected to the first section of the multi-section arm 320 via a connecting shaft 361. Two first connecting rods 341 and two second connecting rods 342 are provided. The ends of the two first connecting rods 341 away from the drive shaft 343 are rotatably connected to the ends of the adjusting arm 310 near the connecting shaft 361 via the first rotating shaft 362. The ends of the two second connecting rods 342 away from the drive shaft 343 are rotatably connected to the ends of the first section of the multi-section arm 320 near the connecting shaft 361 via the second rotating shaft 363. The two second connecting rods 342 are located between the two first connecting rods 341. By providing two first connecting rods 341 and two second connecting rods 342, the stability of angle adjustment between the multi-section arm 320 and the adjusting arm 310 can be ensured.

[0024] By using the abrasive blasting cutting anchor removal machine of the present invention, and by adjusting the robotic arm 300 to its maximum retracted state, the included angle between any two adjacent arm segments of the adjusting arm 310 and the multi-section arm 320 is 0°, and the included angle between the execution arm 330 and the end segment of the multi-section arm 320 is 90°. Furthermore, the execution arm 330 is located on the side of the multi-section arm 320 closer to the machine body 100. This significantly reduces the space occupied by the abrasive blasting cutting anchor removal machine and greatly improves its ease of movement within tunnels. By adjusting the robotic arm 300 to its maximum extension state, the included angle between any two adjacent arm segments of the adjusting arm 310, multi-section arm 320, and execution arm 330 is 180°. The robotic arm 300 extends to a vertical state, and at this time, the area occupied by the abrasive blasting cutting anchor removal vehicle on the horizontal plane is small. It can be used for anchor removal of high-altitude anchor cables with less requirement for the overall length of the robotic arm 300, and can adapt to narrow tunnel conditions, thus improving the cost-effectiveness and applicability of the abrasive blasting cutting anchor removal vehicle.

[0025] Example 2: As an optimization of Example 1, such as Figures 1-6 As shown, the multi-segment arm 320 includes a large arm 321 and a forearm 322. The large arm 321 and the forearm 322 are driven to be connected by an elbow joint 323. The large arm 321 and the forearm 322 are arranged along the width direction of the body 100. The large arm 321 is rotatably connected to the adjusting arm 310. The end of the forearm 322 away from the elbow joint 323 is connected to the wrist joint 350. Both the upper arm 321 and the forearm 322 are telescopic arms.

[0026] It should be noted that the elbow joint 323 is a rotary joint. By setting the forearm 322 to the side of the upper arm 321, the overall length of the abrasive blasting cutting anchor removal vehicle is smaller in the extreme contraction state, which is beneficial for the movement of the abrasive blasting cutting anchor removal vehicle in the tunnel. By setting the upper arm 321 and the lower arm 322 as telescopic arms, it is beneficial to reduce the height of the abrasive blasting cutting anchor removal vehicle under extreme contraction state, so as to facilitate the movement of the abrasive blasting cutting anchor removal vehicle in the tunnel, and to facilitate the extension of the robotic arm 300 in the tunnel. For example, when the space in the tunnel is limited, the extension state of the robotic arm 300 can be adjusted first by adjusting the component 340 and the elbow joint 323, and then the upper arm 321 and the lower arm 322 can be extended. If both boom 321 and forearm 322 are non-telescopic booms, in order to ensure that the high-altitude anchor removal operation can be completed, boom 321 and forearm 322 need to be longer. This will result in a higher overall height of the abrasive blasting cutting anchor removal vehicle in the extreme retraction state, which is not conducive to the movement of the anchor removal vehicle in the tunnel. In addition, due to the long length of boom 321 and forearm 322, when the space in the tunnel is limited, the rotation and adjustment of boom 321 and forearm 322 will be inconvenient and may interfere with the tunnel sidewall. It is important to emphasize that when the abrasive jet cutting assembly 400 jets a high-pressure stream, a reaction force is generated and transmitted to the robotic arm 300. This reaction force causes the second link 342 to be under tension and the first link 341 to be under compression. To reduce the adverse effects of this reaction force on the first link 341 and the second link 342, typically, such as Figure 6 As shown, the angle between the adjusting arm 310 and the upper arm 321 is usually less than 180°.

[0027] In this embodiment, both the elbow joint 323 and the wrist joint 350 are configured as swing cylinders to provide sufficiently large torque. The fixed end of the elbow joint 323 is connected to the upper arm 321, and the output end of the elbow joint 323 is connected to the forearm 322. The fixed end of the wrist joint 350 is connected to the forearm 322, and the output end of the wrist joint 350 is connected to the actuator arm 330.

[0028] Example 3: As an optimization of Example 2, such as Figure 2 , Figure 5 , Figure 8 and Figure 9 As shown, the adjusting arm 310 is provided with a first connecting frame 311 on the side near the main arm 321, and the main arm 321 is provided with a second connecting frame 3211 on the side near the adjusting arm 310. The main arm 321 is rotatably connected to the first connecting frame 311 through the second connecting frame 3211.

[0029] It should be noted that the first connecting frame 311 is fixedly connected to the end of the adjusting arm 310 away from the swing actuator 200, and the second connecting frame 3211 is fixedly connected to the end of the upper arm 321 away from the elbow joint 323. The first connecting frame 311 and the second connecting frame 3211 are rotatably connected through the connecting shaft 361. By setting the first connecting frame 311 and the second connecting frame 3211, the installation space of the adjusting component 340 can be reserved between the adjusting arm 310 and the upper arm 321 in the extreme retraction state, so as to avoid interference between the robotic arm 300 and the adjusting component 340. In addition, the ends of the first link 341 and the second link 342 away from the drive shaft 343 have a certain distance, which can avoid the risk of structural dead points.

[0030] Example 4: As an optimization of Example 3, such as Figure 2 , Figure 3 , Figure 5 and Figure 6 As shown, the width of the adjusting arm 310 is greater than the width of the main arm 321, and the second link 342 is set in an arc shape, bending towards the first link 341.

[0031] It should be noted that the adjusting arm 310 is the arm segment of the robotic arm 300 that bears the largest load. By designing the adjusting arm 310 to have a larger width, the strength of the adjusting arm 310 is improved. By designing the arc bending direction of the second link 342, interference between the second link 342 and the first connecting frame 311 can be avoided during the process of the robotic arm 300 adjusting from the extreme retracted state to the extreme extended state, thereby optimizing the stroke distribution of the hydraulic cylinder 344. Moreover, the arc-shaped design helps to optimize the stress distribution of the second link 342 when it is under force. By designing an appropriate radius of curvature, the axial force is converted into part of the bending stress, thereby dispersing the stress and avoiding stress concentration. While ensuring the rigidity of the second link, it reduces the risk of deformation caused by uneven force during operation and improves the service life of the second link 342.

[0032] In this embodiment, the first link 341 is also set to be arc-shaped, and the first link 341 bends towards the second link 342, which helps to optimize the overall stress distribution of the first link 341 and the second link 342 when subjected to force, and forms a "self-locking" effect when subjected to force, which enhances the structural stability and helps to improve the service life of the first link 341 and the second link 342 and reduce maintenance costs. Furthermore, the arc-shaped first link 341 and second link 342 have a more uniform moment of inertia distribution and a more stable dynamic response, which can better match the motion trajectory of the robotic arm 300 and ensure that the first link 341, second link 342 and drive shaft 343 can smoothly complete the arc lifting action when driven by hydraulic cylinder 344. Moreover, the arc transition achieves a compact mechanical structure, completing complex movements in a limited space. This design takes into account work efficiency, structural strength and space utilization.

[0033] Example 5: As an optimization of Example 4, such as Figure 2 , Figure 5 , Figure 6 , Figure 10 and Figure 11 As shown, a camera 370 is fixedly mounted on the actuator arm 330; An illumination assembly 380 is installed on the adjusting arm 310. The illumination assembly 380 includes a fixed frame 381, a rotating frame 382, ​​and an illumination lamp 383. The fixed frame 381 is fixedly installed on the adjusting arm 310, the rotating frame 382 is rotatably installed on the fixed frame 381, and the illumination lamp 383 is fixedly installed on the rotating frame 382.

[0034] It should be noted that the abrasive blasting cutting anchor removal vehicle is adjusted by an external controller. By setting up a camera 370, the operator only needs to observe the position status of the abrasive blasting cutting component 400 on the controller's display screen. The operator can then adjust the position of the abrasive blasting cutting component 400 by adjusting the robotic arm 300 to ensure alignment before cutting, thereby improving the alignment efficiency of the abrasive blasting cutting component 400. If observation is done by the naked eye, a lifting platform is required, which not only increases the cost but also makes the transportation of the lifting platform inconvenient. Furthermore, there are safety hazards associated with personnel ascending to a high altitude to observe via the lifting platform. By adjusting the angle of the rotating frame 382, ​​the angle of the lighting lamp 383 is adjusted so that the light from the lighting lamp 383 covers the area to be illuminated. For example, when driving in a dimly lit environment in the tunnel, the lighting lamp 383 can be used to illuminate the surrounding area, which is beneficial to the safe driving of the abrasive blasting cutting anchor removal vehicle in the tunnel. When the abrasive blasting cutting assembly 400 is aligned, the lighting lamp 383 illuminates the area near the nozzle 450 and the anchor cable, so that the position of the nozzle 450 of the abrasive blasting cutting assembly 400 can be more clearly observed through the display screen, which is beneficial to the alignment of the abrasive blasting cutting assembly 400.

[0035] In this embodiment, the fixed frame 381 and the rotating frame 382 are rotatably connected by a fixed shaft 384. The fixed frame 381 is provided with an arc-shaped groove 3811 with a point on the axis of the fixed shaft 384 as the arc center. The rotating frame 382 is provided with a through hole 3821 corresponding to the arc-shaped groove 3811. The distance between the through hole 3821 and the axis of the fixed shaft 384 is the radius of the arc of the arc-shaped groove 3811. The rotating frame 382 is locked to the fixed frame 381 by bolts and nuts. The bolts are inserted in the arc-shaped groove 3811 and the through hole 3821. When the bolts and nuts are loosened, the angle of the rotating frame 382 can be adjusted. During the adjustment process, the bolt slides in the arc-shaped groove 3811. When the bolts and nuts are tightened, the rotating frame 382 is locked and the angle is fixed, thereby preventing the rotating frame 382 and the lighting lamp 383 from shaking or shifting.

[0036] Example 6: As an optimization of Example 5, such as Figure 1 and Figure 12As shown, a support leg unit 110 is provided at one end of the body 100 near the robotic arm 300. There are two sets of support leg units 110 along the width direction of the body 100, and the two sets of support leg units 110 are located on both sides of the robotic arm 300. Each set of support leg units 110 includes a rotating arm 111, a hydraulic cylinder 112 and a foot 113. The rotating arm 111 is rotatably connected to the body 100. The fixed end of the hydraulic cylinder 112 is fixedly connected to the end of the rotating arm 111 away from the body 100. The foot 113 is installed at the output end of the bottom of the hydraulic cylinder 112 through a universal ball hinge.

[0037] It should be noted that after the abrasive blasting cutting anchor removal vehicle moves to the preset position, the rotating arm 111 is unfolded, for example, so that the length direction of the rotating arm 111 is consistent with the width direction of the abrasive blasting cutting anchor removal vehicle. Subsequently, the output end of the hydraulic cylinder 112 extends until the pad 113 abuts against the ground, thereby providing stable support for the front end of the abrasive blasting cutting anchor removal vehicle. Since the pad 113 is installed at the output end of the bottom of the hydraulic cylinder 112 through a universal ball hinge, the pad 113 can adapt to uneven ground conditions. By designing the support leg unit 110 and adjusting the support leg unit 110, the overall stability of the abrasive blasting cutting anchor removal vehicle can be improved. Moreover, by designing the rotating arm 111, after the support unit completes the support adjustment, the distance between the pad 113 and the machine body 100 is larger, the overall width of the abrasive blasting cutting anchor removal vehicle is increased, and the overall stability of the abrasive blasting cutting anchor removal vehicle is better.

[0038] In this embodiment, during the movement of the abrasive blasting cutting anchor removal vehicle, the rotating arm 111 is locked by a pin to prevent the outrigger unit 110 from swinging. At this time, the pin passes through the machine body 100 and the rotating arm 111. The length direction of the rotating arm 111 is consistent with the length direction of the abrasive blasting cutting anchor removal vehicle, so as to facilitate the movement of the abrasive blasting cutting anchor removal vehicle in the tunnel. When the abrasive blasting cutting anchor removal vehicle moves to the preset position, the pin is pulled out to facilitate the rotation adjustment of the rotating arm 111.

[0039] Example 7: As an optimization of Example 6, such as Figure 1 and Figure 12 As shown, the machine body 100 is equipped with an abrasive tank 120 and a booster 130. The abrasive tank 120 is connected to the booster 130 through a connecting pipe, and the booster 130 is connected to the gun head 450 of the abrasive jet cutting assembly 400 through a high-pressure hose.

[0040] It should be noted that the water and sand (abrasive) are first mixed in the abrasive tank 120 and pressurized to ultra-high pressure by the booster 130. Finally, the mixture flows into the nozzle 450 of the abrasive jet cutting assembly 400 through the high-pressure hose and is ejected from the nozzle of the nozzle 450, forming a high-speed jet that cuts the anchor ring 520 and the steel strand 510. With this design, the water and sand are mixed first, and no sparks are generated when they flow through the metal pipe wall (such as the wall of the connecting pipe), which helps to improve the safety of the anchor removal operation. If the water and sand are mixed later, the sand is prone to generating sparks when it flows through the metal pipe wall, which poses a safety hazard.

[0041] Example 8: A method for using an abrasive blasting cutting anchor removal machine, such as... Figure 1 and Figure 7 As shown, it includes the following steps: S1. The abrasive blasting cutting anchor removal vehicle moves to the area near the anchor cable; S2, The robotic arm 300 drives the gun head 450 to align with the upper end of the anchor ring 520; S3, the abrasive jet cutting assembly 400 cuts a notch in the anchor ring 520 between the clamping plate 530 and the tray 550 and cuts the steel strand 510 along the depth direction of the notch.

[0042] It should be noted that S2 includes the following steps: S21. Pull out the pin, unfold the rotating arm 111, and extend the output end of the hydraulic cylinder 112 until the pad 113 touches the ground. S22, the robotic arm 300 drives the abrasive jet cutting assembly 400 to move until the gun head 450 is aligned with the anchor ring 520 between the clamp 530 and the tray 550, and the distance between the jet nozzle of the gun head 450 and the anchor ring 520 is 10-20mm.

[0043] It should be noted that in S22, under the condition that the working conditions permit, the length direction of the gun head 450 is perpendicular to the length direction of the steel strand 510. When the surrounding space is small and it is not possible to make the length direction of the gun head 450 perpendicular to the length direction of the steel strand 510, the length direction of the gun head 450 can be tilted upward appropriately to avoid interference between the abrasive jet cutting component 400 and the surrounding rock wall. In S22, the position of the adjustment arm 310, the upper arm 321, the lower arm 322 and the execution arm 330 are first adjusted. Then, the upper arm 321 and the lower arm 322 are extended and retracted to avoid interference between the robotic arm 300 and the abrasive jet cutting assembly 400 and the surrounding rock wall. In S23, only the anchor ring 520 is cut to cut the steel strand 510, without involving the cutting of the wedge 530. Furthermore, the cutting of the anchor ring 520 is only to cut the steel strand 510, not to cut the anchor ring 520 itself, which reduces unnecessary cutting, helps to save energy and improves the efficiency of abrasive blasting cutting for anchor removal.

[0044] Example 9: As an optimization of Example 7, such as Figure 1 , Figure 2 , Figure 13 and Figure 14 As shown, the abrasive jet cutting assembly 400 includes a mounting box 410, a drive unit 420, a swing shaft 430, a mounting base 440, and a gun head 450. The drive unit 420 is connected to the mounting box 410. The swing shaft 430 is rotatably mounted inside the mounting box 410 and is drivenly connected to the drive unit 420. The drive unit 420 is configured to drive the swing shaft 430 to reciprocate around its own axis. The mounting base 440 is connected to the end of the swing shaft 430 that extends out of the mounting box 410. The gun head 450 is mounted on the mounting base 440.

[0045] It should be noted that the mounting box 410 is mounted on the robotic arm 300 of the anchor removal vehicle. Specifically, the mounting box 410 is fixedly mounted on the end of the execution arm 330 of the robotic arm 300. The position of the abrasive jet cutting assembly 400 can be adjusted through the robotic arm 300. The drive unit 420 drives the swing shaft 430 to reciprocate around its own axis within a certain angle range, thereby driving the mounting base 440 and the gun head 450 to swing synchronously. The high-pressure jet (a mixture of water and sand) ejected from the gun head 450 can complete the reciprocating cutting of the anchor ring 520 and the steel strand 510. Compared to the safety operating device for anchor removal and a water jet cutting machine for mining disclosed in the existing patent publication number CN216991452U, the existing patent requires the operator to manually swing the high-pressure hose to drive the gun head to swing for cutting. This is not only very laborious and wasteful of human resources, but also the swing angle range of the gun head is not uniform, resulting in poor cutting accuracy and cutting effect. In addition, the high-pressure fluid flowing in the high-pressure hose may cause chaotic movement during the swing of the high-pressure hose, posing a safety hazard. The abrasive jet cutting component 400 of this application does not have the above problems. In S3, the drive unit 420 drives the swing shaft 430 to reciprocate around its own axis, thereby causing the mounting base 440 and the gun head 450 to swing synchronously. The high-pressure jet ejected from the gun head 450 first cuts the anchor ring 520 between the clamping plate 530 and the tray 550, and continues to cut along the depth direction of the cut until the steel strand 510 between the clamping plate 530 and the tray 550 is cut off.

[0046] By using the abrasive jet cutting assembly 400 of this application, the swing shaft 430 is driven by the drive unit 420 to reciprocate around its own axis, thereby causing the mounting base 440 and the gun head 450 to swing back and forth, so as to cut the anchor ring 520 and the steel strand 510. This saves manpower, the swing angle range of the gun head 450 remains unchanged, the cutting accuracy and cutting effect are excellent, the cutting efficiency is also improved, and no operator is required to make adjustments nearby, making the cutting process very safe.

[0047] Furthermore, such as Figures 14-17 As shown, the drive unit 420 includes a swing plate 421, an eccentric member 422, and a drive member 423. The swing plate 421 is fixedly sleeved with the swing shaft 430. The swing plate 421 has a through groove 4211, which has two opposing extrusion surfaces 4212. The planes containing the two extrusion surfaces 4212 are located on both sides of the swing shaft 430. The eccentric member 422 is disposed in the through groove 4211, and the two extrusion surfaces 4212 are both in contact with the outer ring of the eccentric member 422. The drive member 423 is drivenly connected to the eccentric member 422 through a connecting shaft 424. The eccentric member 422 and the connecting shaft 424 are not coaxial. With this design, the drive member 423 drives the eccentric member 422 to rotate eccentrically continuously, which in turn drives the swing plate 421, the swing shaft 430, the mounting base 440, and the gun head 450 to swing back and forth.

[0048] It should be noted that the mounting box 410 has an internal cavity, in which the swing plate 421 and the eccentric component 422 are both located. A portion of the swing shaft 430 is located within the cavity, while the other portion extends outside the mounting box 410. The through slot 4211 is square, and the eccentric component 422 is round. One end of the connecting shaft 424 is fixedly connected to the output end of the drive component 423, and the other end of the connecting shaft 424 is fixedly sleeved with the eccentric component 422. Component 423 drives eccentric component 422 to rotate eccentrically via connecting shaft 424. During the rotation of eccentric component 422, the outer ring of eccentric component 422 presses against the pressing surface 4212, causing the swing plate 421 to reciprocate around the axis of swing shaft 430 within a certain angle range. This causes the swing shaft 430 to reciprocate around its own axis within the same angle range, thereby causing the mounting base 440 and the gun head 450 to swing back and forth synchronously, so as to reciprocate cutting the anchor ring 520 and the steel strand 510.

[0049] Furthermore, such as Figure 14 , Figure 16 and Figure 17As shown, the eccentric component 422 includes an eccentric column 4221 and a first bearing 4222. The eccentric column 4221 is fixedly sleeved with the connecting shaft 424, but the eccentric column 4221 and the connecting shaft 424 are not coaxial. The inner ring of the first bearing 4222 is fixedly sleeved with the outer ring of the eccentric column 4221, and both pressing surfaces 4212 are in contact with the outer ring of the first bearing 4222. This design, by setting the first bearing 4222, can avoid frictional wear caused by direct contact between the eccentric column 4221 and the swing plate 421, which helps to reduce maintenance costs.

[0050] It should be noted that the driving component 423 drives the eccentric column 4221 to rotate eccentrically through the connecting shaft 424. The first bearing 4222 moves synchronously with the eccentric column 4221. During this process, the outer ring of the first bearing 4222 presses against the pressing surface 4212, thereby driving the swing plate 421 to swing. By setting the first bearing 4222, friction and wear caused by direct contact between the eccentric column 4221 and the swing plate 421 can be avoided, which helps to reduce maintenance costs. The friction between the first bearing 4222 and the swing plate 421 is small, and the frictional heat generated is also small, so there is no heat accumulation. Moreover, the design of the first bearing 4222 also helps to reduce the noise generated by friction.

[0051] Furthermore, such as Figure 14 and Figure 15 As shown, the eccentric component 422 also includes two second bearings 4223. The two second bearings 4223 are respectively disposed on both sides of the swing plate 421. The inner rings of both second bearings 4223 are fixedly sleeved onto the outer ring of the connecting shaft 424, and the outer rings of both second bearings 4223 are snapped into the mounting box 410. This design improves the stability of the connecting shaft 424's rotation and reduces the resistance encountered during the rotation of the connecting shaft 424.

[0052] It should be noted that the inner ring end face of the second bearing 4223 does not contact the mounting box 410. The two second bearings 4223 can limit the connection shaft 424, improve the stability of the rotation of the connection shaft 424, and the design of the second bearing 4223 can avoid direct contact between the connection shaft 424 and the mounting box 410, thereby reducing the resistance encountered by the connection shaft 424 during rotation.

[0053] Furthermore, the drive component 423 is configured as a hydraulic motor. This design facilitates the provision of greater torque, ensuring the stable operation of the drive unit 420.

[0054] It should be noted that when the high-pressure jet is ejected from the nozzle 450, the resulting reaction force is transmitted to the connecting shaft 424, which will hinder the rotation of the output end of the drive component 423. By setting the drive component 423 as a hydraulic motor, a greater torque can be provided, which can ensure that the drive component 423 can continuously and stably drive the connecting shaft 424 and the eccentric column 4221 to rotate, thus ensuring the stable operation of the drive unit 420. Moreover, the hydraulic motor has good impact resistance and can adapt to the reaction force generated and transmitted by the high-pressure jet, which helps to reduce the maintenance cost of the drive component 423. In addition, speed regulation can be achieved by controlling the flow rate of hydraulic oil in the hydraulic motor, eliminating the need for an additional geared motor, which helps to reduce the cost of the drive component 423.

[0055] Furthermore, such as Figure 14 and Figure 15 As shown, the outer ring of the swing shaft 430 is fitted with a third bearing 460. There are two third bearings 460, which are located on both sides of the swing plate 421. The outer rings of both third bearings 460 are engaged with the mounting box 410. This design can improve the stability of the swing shaft 430's rotation and reduce the resistance encountered by the swing shaft 430 during rotation.

[0056] It should be noted that the inner ring of the third bearing 460 is fixedly sleeved on the outer ring of the swing shaft 430. The end face of the inner ring of the third bearing 460 does not contact the mounting box 410. The two third bearings 460 can limit the swing shaft 430, improve the stability of the swing shaft 430 rotation, and the design of the third bearing 460 can avoid direct contact between the swing shaft 430 and the mounting box 410, thereby reducing the resistance encountered by the swing shaft 430 during rotation.

[0057] Furthermore, such as Figure 13 and Figure 18 As shown, the mounting base 440 is provided with at least two mounting slots 441 arranged on different axes, and the gun head 450 is installed in one of the mounting slots 441. This design is beneficial for anchor removal operations in narrow tunnels.

[0058] It should be noted that during the movement of the abrasive blasting cutting anchor removal vehicle, when the tunnel is narrow and the anchor cable is located in a position close to the side rock wall, the position of the nozzle 450 can be changed so that the nozzle 450 faces to the side. After aligning the nozzle 450, the anchor removal operation can be carried out. On the one hand, it is not necessary to frequently adjust the position of the abrasive blasting cutting anchor removal vehicle, which is conducive to improving the anchor removal efficiency. On the other hand, it is conducive to adapting to the anchor removal operation in narrow tunnels.

[0059] In this embodiment, there are two mounting slots 441, and the two mounting slots 441 are perpendicular to each other.

[0060] Furthermore, such as Figure 13 , Figure 14 and Figure 18 As shown, the mounting base 440 includes a lower base plate 442 and an upper base plate 443. The lower base plate 442 is fixedly connected to the swing shaft 430, and the upper base plate 443 is bolted onto the lower base plate 442, forming a mounting groove 441. A gap 444 is provided between the upper base plate 443 and the lower base plate 442. This design facilitates the locking and replacement of the gun head 450 and allows for easy adjustment of the cutting length.

[0061] It should be noted that the lower seat plate 442 is fixedly connected to the end of the swing shaft 430 extending out of the mounting box 410. After the upper seat plate 443 is installed on the lower seat plate 442, the upper groove of the upper seat plate 443 and the lower groove of the lower seat plate 442 are joined together to form the mounting groove 441. A gap 444 is provided between the upper seat plate 443 and the lower seat plate 442 so that the upper seat plate 443 and the lower seat plate 442 can press the gun head 450 by tightening the bolts and lock the gun head 450. When it is necessary to change the position of the gun head 450, it is only necessary to loosen the bolts. There is no need to unscrew all the bolts. The replacement of the gun head 450 is simple and convenient. The structural design of the mounting base 440 is simple. The cutting length can be adjusted by adjusting the length of the gun head 450 extending out of the mounting base 440. With a fixed distance between the gun head 450 and the anchor ring 520, since the swing amplitude (angle of swing) of the gun head 450 remains constant, the longer the length of the gun head 450 extending out of the mounting base 440, the longer the arc length of the head of the gun head 450 travels. Correspondingly, the length of the cut made on the anchor ring 520 is longer. Depending on the diameter of the steel strand 510, adjusting the length of the gun head 450 extending out of the mounting base 440 allows for cutting steel strands 510 with different radial dimensions, and helps to avoid additional energy loss caused by over-cutting.

[0062] The embodiments of the invention have been described above with reference to the accompanying drawings. However, the embodiments are not limited to the specific implementation methods described above. The specific implementation methods described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the embodiments without departing from the spirit of the embodiments and the scope of protection of the claims, and all of these forms are within the protection scope of the embodiments.

Claims

1. An abrasive jet cutting anchor removal vehicle, characterized in that, include: The body (100) is equipped with a swing actuator (200); The robotic arm (300) includes an adjusting arm (310), a multi-segment arm (320), an execution arm (330), and an adjustment assembly (340). One end of the adjusting arm (310) is driven to the swing actuator (200), and the other end of the adjusting arm (310) is rotatably connected to the first segment of the multi-segment arm (320). One end of the execution arm (330) is driven to the end segment of the multi-segment arm (320) via a wrist joint (350). The adjustment assembly (340) includes a first connecting rod (341), a second connecting rod (342), a drive shaft (343), and a hydraulic cylinder (344). One end of the first connecting rod (341) is rotatably connected to the adjusting arm (310), and one end of the second connecting rod (342) is rotatably connected to the first section of the multi-section arm (320). The other ends of the first connecting rod (341) and the second connecting rod (342) are rotatably connected through the drive shaft (343). The fixed end of the hydraulic cylinder (344) is rotatably connected to the adjusting arm (310), and the output end of the hydraulic cylinder (344) is rotatably connected to the drive shaft (343). Abrasive jet cutting assembly (400), mounted at the other end of the actuator arm (330), is used to cut the steel strand (510) between the clamp (530) and the tray (550).

2. The abrasive jet cutting anchor removal vehicle according to claim 1, characterized in that, The multi-segment arm (320) includes an upper arm (321) and a lower arm (322). The upper arm (321) and the lower arm (322) are driven to be connected by an elbow joint (323). The upper arm (321) and the lower arm (322) are arranged along the width direction of the body (100). The upper arm (321) is rotatably connected to the adjusting arm (310). The end of the lower arm (322) away from the elbow joint (323) is connected to the wrist joint (350).

3. The abrasive jet cutting anchor removal vehicle according to claim 2, characterized in that, Both the upper arm (321) and the lower arm (322) are configured as telescopic arms.

4. The abrasive jet cutting anchor removal vehicle according to claim 2, characterized in that, The adjusting arm (310) is provided with a first connecting frame (311) on the side near the main arm (321), and the main arm (321) is provided with a second connecting frame (3211) on the side near the adjusting arm (310). The main arm (321) is rotatably connected to the first connecting frame (311) through the second connecting frame (3211).

5. The abrasive jet cutting anchor removal vehicle according to claim 2, characterized in that, The width of the adjusting arm (310) is greater than the width of the large arm (321), and the second link (342) is set in an arc shape, bending towards the first link (341).

6. The abrasive jet cutting anchor removal vehicle according to claim 1, characterized in that, A camera (370) is fixedly mounted on the actuator (330).

7. The abrasive jet cutting anchor removal vehicle according to claim 6, characterized in that, A lighting assembly (380) is installed on the adjusting arm (310). The lighting assembly (380) includes a fixed frame (381), a rotating frame (382), and a lighting lamp (383). The fixed frame (381) is fixedly installed on the adjusting arm (310), the rotating frame (382) is rotatably installed on the fixed frame (381), and the lighting lamp (383) is fixedly installed on the rotating frame (382).

8. The abrasive jet cutting anchor removal vehicle according to claim 1, characterized in that, The body (100) is provided with a leg unit (110) near the end of the robotic arm (300). Along the width direction of the body (100), there are two sets of leg units (110), and the two sets of leg units (110) are located on both sides of the robotic arm (300). Each set of leg units (110) includes a rotating arm (111), a hydraulic cylinder (112), and a foot (113). The rotating arm (111) is rotatably connected to the body (100). The fixed end of the hydraulic cylinder (112) is fixedly connected to the end of the rotating arm (111) away from the body (100). The foot (113) is installed at the output end of the bottom of the hydraulic cylinder (112) through a universal ball hinge.

9. The abrasive jet cutting anchor removal vehicle according to claim 1, characterized in that, The machine body (100) is equipped with an abrasive tank (120) and a booster (130). The abrasive tank (120) is connected to the booster (130) through a connecting pipe. The booster (130) is connected to the nozzle (450) of the abrasive jet cutting assembly (400) through a high-pressure hose.

10. A method of using an abrasive blasting cutting anchor removal vehicle, comprising using an abrasive blasting cutting anchor removal vehicle as described in any one of claims 1-9, characterized in that, Includes the following steps: S1. The abrasive blasting cutting anchor removal vehicle moves to the area near the anchor cable; S2, The robotic arm (300) drives the gun head (450) to align with the upper end of the anchor ring (520); S3, the abrasive jet cutting assembly (400) cuts a notch in the anchor ring (520) between the clamp (530) and the tray (550), and cuts the steel strand (510) along the depth direction of the notch.

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