Anchor withdrawing device and equipment for anchorage device

Abstract

The invention provides an anchorage device withdrawing device which comprises a base frame and a power assembly, an anchor seat and a cutter are arranged on the base frame, the cutter and the anchor seat are oppositely arranged, the cutter can move relative to the anchor seat, and the anchor seat is used for positioning an anchorage device; the power assembly comprises a pushing cylinder and a transmission rod, the pushing cylinder is arranged on the base frame, the transmission rod is rotationally arranged on the base frame, one end of the transmission rod abuts against the cutter, the other end of the transmission rod abuts against the output end of the pushing cylinder, an elastic piece is arranged between the cutter and the base frame, and the cutter and the anchor base are both located above the pushing cylinder. The anchor withdrawing device for the anchorage device can be tightly attached to the wall face of a roadway or a driving working face to effectively cut off the anchorage device, disassembly difficulty caused by the fact that the operation space is limited is avoided, and the speed and accuracy of disassembly operation can be improved easily.

Description

Technical Field

[0001] The present invention relates to the technical field of anchor disassembly, and in particular to an anchor unanchoring device and equipment. Background Art

[0002] In the process of mineral mining, especially in the process of coal mining, anchors are widely used as a fixing and supporting structure to reinforce the tunnel wall and excavation working face. However, as the mining operation continues, the original anchors need to be removed or replaced. However, the anchors are usually tightly fixed to the tunnel wall or excavation working face, which makes it impossible for the disassembly tools to fully approach the anchors, resulting in only partial truncation of the anchors, rather than complete disassembly. This not only increases the difficulty of disassembly, but may also cause the anchors to remain on the tunnel wall or excavation working face, posing a safety hazard. Summary of the invention

[0003] The present invention aims to solve at least one of the above technical problems to a certain extent. To this end, an anchor undocking device is proposed in an embodiment of the present invention, which can be closely attached to the tunnel wall or excavation working surface to effectively cut off the anchor, avoiding the difficulty of disassembly caused by limited operating space, and helping to improve the speed and accuracy of the disassembly operation.

[0004] In addition, an anchor undocking device is provided in one embodiment of the present invention.

[0005] The anchor unanchoring device provided in the embodiment of the present invention comprises a base frame, an anchor seat, a tool and a power assembly, wherein the tool and the anchor seat are relatively arranged on the base frame, the tool is movable relative to the anchor seat, and the anchor seat is used to position the anchor. The power assembly comprises a push cylinder and a transmission rod, wherein the push cylinder is arranged on the base frame, the transmission rod is rotatably arranged on the base frame, one end of the transmission rod abuts against the tool, and the other end of the transmission rod abuts against the output end of the push cylinder, an elastic member is arranged between the tool and the base frame, and the tool and the anchor seat are both located above the push cylinder.

[0006] In summary, the embodiment of the present invention provides a method in which the tool and the anchor seat are arranged above the base frame, and the force of the push cylinder is amplified by a transmission rod and then acts on the tool, which not only solves the problem of difficulty in operation in a narrow space, reduces the difficulty of operation and safety risks, but also improves work efficiency.

[0007] In some embodiments, the transmission rod has a rotating part, a first abutment section and a second abutment section relatively located on both sides of the rotating part, the first abutment section abuts against the tool, the second abutment section abuts against the output end of the push cylinder, and the first abutment section and the second abutment section are both provided with an arc-shaped abutment surface.

[0008] In some embodiments, the first abutting section, the rotating portion and the second abutting section are connected in sequence in a U shape.

[0009] In some embodiments, the base frame includes a first slide rail and a second slide rail arranged opposite to each other, the first slide rail and the second slide rail are both provided with a slide groove, the tool has a sliding block matching with the slide groove, and the elastic member is arranged in the slide groove.

[0010] In some embodiments, the tool has a tool head having a cutting angle of 30° to 60°.

[0011] In some embodiments, the base frame further includes a fixing seat and a fixing ring, the pushing cylinder is mounted on the fixing seat, the fixing ring is connected to the fixing seat, and the fixing ring is sleeved on the outer side of the pushing cylinder.

[0012] In some embodiments, the pushing cylinder is configured as a hydraulic cylinder, and the hydraulic medium of the hydraulic cylinder is an emulsion.

[0013] In some embodiments, the base frame further includes a mounting seat, one of the mounting seat and the anchor seat is provided with a mounting groove, and the other of the mounting seat and the anchor seat is provided with a clamping column, and the clamping column is detachably clamped into the mounting groove.

[0014] In some embodiments, the clamping column is configured to be T-shaped, and the mounting groove is adapted to the shape of the clamping column;

[0015] And / or, the mounting seat has two inclined surfaces, and the two inclined surfaces are correspondingly arranged on two sides of the mounting groove.

[0016] In addition, the anchor unanchoring equipment provided in the embodiment of the present invention comprises a mechanical arm and the anchor unanchoring device mentioned above, and the anchor unanchoring device is arranged on the mechanical arm. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional schematic diagram of the anchor unanchoring device provided in an embodiment of the present invention.

[0018] Figure 2 It is a cross-sectional schematic diagram of an anchor unanchoring device provided in an embodiment of the present invention.

[0019] Figure 3 It is a cross-sectional schematic diagram of the anchor unanchoring device provided by an embodiment of the present invention at the tool position.

[0020] Figure 4 It is a cross-sectional schematic diagram of the anchor unanchoring device provided by an embodiment of the present invention at the transmission rod.

[0021] Reference numerals: 100, anchor unanchoring device;

[0022] 10. Base frame; 111. First slide rail; 112. Second slide rail; 113. Slide groove; 114. Guide surface; 12. U-shaped frame; 121. First mounting column; 122. Second mounting column; 123. Third mounting column; 124. Rotating shaft; 125. First hole; 13. Fixed seat; 131. Fixed plate; 132. Extended claw; 14. Fixed ring; 15. Mounting seat; 151. Mounting groove; 152. Accommodating cavity; 153. Inclined surface;

[0023] 20. Anchor seat; 21. Clamp column; 22. Arc groove;

[0024] 30. tool; 31. slider; 32. tool head; 33. tool bar;

[0025] 40. Power assembly; 41. Push cylinder; 411. Output end; 42. Transmission rod; 421. Rotating portion; 422. First abutting section; 423. Second abutting section; 424. Arc-shaped abutting surface; 425. Second hole; 43. Elastic member. DETAILED DESCRIPTION

[0026] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0027] like Figures 1 to 4 As shown, an embodiment of the present invention provides an anchor undocking device 100, which includes a base frame 10, an anchor seat 20, a cutter 30 and a power assembly 40. The anchor seat 20 and the cutter 30 are relatively arranged on the base frame 10, the cutter 30 is movable relative to the anchor seat 20, and the anchor seat 20 is used to position the anchor. The power assembly 40 includes a push cylinder 41 and a transmission rod 42. The push cylinder 41 is arranged on the base frame 10, and the transmission rod 42 is rotatably arranged on the base frame 10. One end of the transmission rod 42 abuts against the cutter 30, and the other end of the transmission rod 42 abuts against the push cylinder 41. An elastic member 43 is arranged between the cutter 30 and the base frame 10. The cutter 30 and the anchor seat 20 are both located above the hydraulic cylinder, so that the anchor can be cut off by fitting the tunnel wall or the excavation working face, avoiding the difficulty of disassembly due to limited operating space, which helps to improve the speed and accuracy of the disassembly operation.

[0028] In this embodiment, the base frame 10 is the supporting structure of the entire device, carrying other components to ensure the stability and reliability of the entire anchor removal operation process. The anchor seat 20 is used to accurately locate the anchor to be cut off, ensuring that the tool 30 can accurately act on the target position of the anchor. The power assembly 40 is a component that drives the tool 30 to move. The push cylinder 41 is installed on the base frame 10 and can provide the necessary force. The transmission rod 42 is rotatably arranged on the base frame 10, which can amplify the force applied by the push cylinder 41, so that the force of the push cylinder 41 can be more efficiently transmitted to the tool 30, driving it to perform the anchor cutting operation. In addition, the tool 30 and the anchor seat 20 are both located above the push cylinder 41 and at the top of the base frame 10, so that they can keep in contact with the working surface when the space is limited, such as the tunnel wall or the excavation working surface, and then effectively reduce the difficulty of disassembly caused by the limited operating space, and further improve the speed and accuracy of the disassembly operation.

[0029] In addition, when the cutter 30 moves toward the anchor seat 20, the cutter 30 will gradually apply force to the elastic member 43, causing the elastic member 43 to deform, and then after the anchor is cut off, the cutter 30 is automatically pushed back to the initial position by the deformation recovery force of the elastic member 43. When the cutter 30 is in the initial position, the cutter 30 is separated from the anchor seat 20, and the anchor to be cut off can be accommodated between the cutter 30 and the anchor seat 20; the cutter 30 also has a cut-off position, and when the cutter 30 is in the cut-off position, the cutter 30 is in contact with the anchor seat 20.

[0030] In summary, the anchor unanchoring device 100 provided in the embodiment of the present invention, by arranging the tool 30 and the anchor seat 20 above the base frame 10, and amplifying the force of the push cylinder 41 through the transmission rod 42 and then acting on the tool 30, not only solves the problem of difficulty in operation in a narrow space, reduces the difficulty of operation and safety risks, but also improves work efficiency.

[0031] like Figure 1 , Figure 2 and Figure 3 As shown, in some embodiments, the transmission rod 42 has a rotating portion 421, a first abutting section 422 and a second abutting section 423 relatively located on both sides of the rotating portion 421, the first abutting section 422 abuts against the tool 30, the second abutting section 423 abuts against the output end 411 of the push cylinder 41, and the first abutting section 422 and the second abutting section 423 are both provided with an arcuate abutting surface 424. That is, the first abutting section 422 and the second abutting section 423 can abut against the tool 30 and the output end 411 of the push cylinder 41 through the arcuate abutting surface 424, which has a greater degree of freedom compared to a fixed connection, and can also make the power transmission more stable and more effective in transmitting the force.

[0032] Specifically, the first abutment section 422 adopts an arcuate abutment surface 424, which can ensure that the tool 30 can stably receive the driving force from the transmission rod 42, which not only increases the contact area with the tool 30 and improves the stability of the connection, but more importantly, through the soft transition of the arc, the impact force in the power transmission process is effectively dispersed, so that the tool 30 starts and runs more smoothly when receiving the driving force. The second abutment section 423 adopts an arcuate abutment surface 424, which can make the second abutment section 423 more closely and stably docked with the output end 411 of the push cylinder 41, and through the arc-shaped structural characteristics, effectively absorb the thrust from the push cylinder 41 and convert it into the rotational power of the transmission rod 42. In this process, the arcuate abutment surface 424 not only improves the stability of power transmission, but also effectively reduces the vibration and noise caused by direct impact, further extending the service life of the transmission rod 42.

[0033] In addition, the first abutment section 422 and the second abutment section 423 adopt the design of the arc-shaped abutment surface 424, which provides a greater degree of freedom for the transmission rod 42, which not only enables the transmission rod 42 to better adapt to various complex working conditions and changes during the power transmission process, but also improves the flexibility and reliability of the entire transmission process.

[0034] Furthermore, the first abutment section 422, the rotating part 421 and the second abutment section 423 are connected in sequence in a U-shape, which can change the driving force direction of the push cylinder 41, making the overall structure more compact, and conveniently arranging the push cylinder 41 below the base frame 10, so as to avoid the push cylinder 41 being close to the tunnel wall or the excavation working surface and affecting the truncation and disassembly of the anchor. Specifically, in the relevant design, the push cylinder 41 is often directly arranged above or on the side of the cutter 30, which not only occupies a large space, but also may affect the truncation efficiency due to the limited operating space. After adopting the transmission rod 42 with a U-shaped structure, the push cylinder 41 can be cleverly placed below the base frame 10, and the thrust is transmitted to the cutter 30 through the U-shaped path of the transmission rod 42. This design not only saves space, but also avoids the push cylinder 41 from being directly close to the tunnel wall or the excavation working surface, thereby reducing the operational difficulties and safety risks caused by the narrow space.

[0035] like Figure 1 , Figure 2 , Figure 4 As shown, in some embodiments, the base frame 10 includes a first slide rail 111 and a second slide rail 112 arranged opposite to each other, the first slide rail 111 and the second slide rail 112 are both provided with a slide groove 113, the tool 30 has a slider 31 matching the slide groove 113, and the elastic member 43 is arranged in the slide groove 113.

[0036] Specifically, the first slide rail 111 and the second slide rail 112 are relatively arranged on both sides of the tool 30, and the tool 30 is arranged in a T-shape as a whole. The slider 31 on the tool 30 is correspondingly slidably arranged in the first slide rail 111 and the second slide rail 112, so as to limit the moving direction of the tool 30. Two elastic members 43 can be provided, and the two elastic members 43 are correspondingly arranged in the first slide rail 111 and the second slide rail 112. Among them, one end of the elastic member 43 is connected to the inner wall of the slide groove 113, and the other end of the elastic member 43 is connected to the slider 31, and the elastic member 43 is located between the slider 31 and the anchor seat 20. In this embodiment, the elastic member 43 is set as a spring.

[0037] Further, the base frame 10 includes two U-shaped frames 12 arranged side by side, and the U-shaped frames 12 have a first mounting column 121, a second mounting column 122, and a third mounting column 123. The first mounting column 121 and the third mounting column 123 are arranged opposite to each other, and the second mounting column 122 is located between the first mounting column 121 and the third mounting column 123. The first slide rail 111 and the second slide rail 112 are arranged corresponding to the two U-shaped frames 12, and the two ends of the first slide rail 111 are correspondingly connected to the first mounting column 121 and the second mounting column 122 of one of the two U-shaped frames 12, and the two ends of the second slide rail 112 are correspondingly connected to the first mounting column 121 and the second mounting column 122 of the other of the two U-shaped frames 12.

[0038] Furthermore, the base frame 10 also includes a rotating shaft 124, the U-shaped frame 12 is provided with a first hole 125, the rotating part 421 is provided with a second hole 425, and the rotating shaft 124 is passed through the first hole 125 and the second hole 425, so that the rotation of the transmission rod 42 can be realized.

[0039] like Figure 2 As shown, in some embodiments, the tool 30 has a cutter head 32, and the cutting angle of the cutter head 32 is set to 30° to 60°, which can not only ensure the cutting efficiency, but also ensure the service life of the tool 30. In this embodiment, the cutting angle of the cutter head 32 is set to 45°, and the cutter head 32 is set to a pointed shape. In this embodiment, the tool 30 also includes a tool rod 33, the tool head 32 is arranged at one end of the tool rod 33, and the slider 31 is arranged at the other end of the tool rod 33.

[0040] like Figure 2 and Figure 3 As shown, in some embodiments, the base frame 10 also includes a fixed seat 13 and a fixed ring 14, the push cylinder 41 is installed on the fixed seat 13, the fixed ring 14 is connected to the fixed seat 13, and the fixed ring 14 is sleeved on the outer side of the push cylinder 41, so that the push cylinder 41 can be firmly fixed.

[0041] Specifically, the cylinder body of the push cylinder 41 can be fixed to the fixing seat 13 through a threaded structure, and the fixing ring 14 can be sleeved on the cylinder body of the push cylinder 41, so as to achieve the fixing of the push cylinder 41. As shown in the figure, the cylinder body of the push cylinder 41 can be divided into a left side and a right side, the fixing seat 13 is fixed to the right side of the cylinder body, and the fixing ring 14 is sleeved on the left side of the cylinder body.

[0042] Furthermore, the fixing seat 13 includes a fixing plate 131 and an extension claw 132, and the two extension claws 132 are extended from the fixing plate 131 in the same direction. The two extension claws 132 are respectively connected to the third mounting columns 123 of the two U-shaped frames 12, and the fixing ring 14 is connected to the U-shaped frame 12, so that the cylinder body of the push cylinder 41 is fixed to the anchor seat 20. In this embodiment, the fixing ring 14 is located between the second mounting column 122 and the third mounting column 123 of the U-shaped frame 12.

[0043] In this embodiment, the push cylinder 41 is set as a hydraulic cylinder, and the hydraulic medium of the hydraulic cylinder is set as an emulsion. Among them, the emulsion has good lubricity, cooling and rust resistance, which can effectively reduce the friction resistance of the hydraulic cylinder when it is working, improve the transmission efficiency, and reduce the wear and corrosion of the hydraulic cylinder and the hydraulic system. In addition, the emulsion also has good stability and can maintain its performance stability for a long time, thereby ensuring the continuous and reliable operation of the hydraulic cylinder. Of course, in some embodiments, the push cylinder 41 can also be set as a pneumatic cylinder.

[0044] like Figure 4 As shown, in some embodiments, the base frame 10 further includes a mounting seat 15, one of the mounting seat 15 and the anchor seat 20 is provided with a mounting groove 151, and the other of the mounting seat 15 and the anchor seat 20 is provided with a clamping column 21, and the clamping column 21 is detachably installed in the mounting groove 151, so that the anchor seat 20 can be quickly replaced, and the anchor seat 20 can be replaced according to the type of anchor, thereby improving the applicable scope of the anchor unanchoring device 100. Among them, the mounting groove 151 is provided on the mounting seat 15, and the clamping column 21 is correspondingly provided on the anchor seat 20. Both ends of the mounting seat 15 are correspondingly fixed to the third mounting columns 123 of the two U-shaped frames 12 to achieve the fixing of the mounting seat 15.

[0045] Furthermore, the mounting seat 15 further includes a receiving cavity 152, which is used to receive the anchor seat 20, and the outer dimensions of the anchor seat 20 are adapted to the receiving cavity 152. The mounting groove 151 is provided on the bottom wall of the receiving cavity 152, so that the anchor seat 20 can be received in the mounting seat 15, thereby improving the connection strength between the anchor seat 20 and the mounting seat 15, avoiding displacement of the anchor seat 20 due to the force of the anchor, and thus improving the overall structural strength.

[0046] Optionally, the clamping column 21 is set to be T-shaped, and the mounting groove 151 is adapted to the shape of the clamping column 21, which not only enhances the connection strength between the anchor seat 20 and the base frame 10, but also reduces the risk of loosening caused by vibration or external force impact. Of course, in some embodiments, the clamping column 21 can also be set to other shapes, such as an inverted V shape.

[0047] like Figure 4 As shown, in this embodiment, the anchor seat 20 is provided with an arc groove 22, which can be used to position the anchor. The mounting seat 15 has two inclined surfaces 153, and the two inclined surfaces 153 are correspondingly arranged on both sides of the mounting groove 151, so that the anchor can be easily guided to move into the arc groove 22 in the anchor seat 20, which not only simplifies the installation steps and reduces the difficulty of operation, but also enables the anchor to enter the arc groove 22 smoothly and smoothly during the installation process, avoiding damage caused by violent installation or improper operation. At the same time, the existence of the inclined surface 153 also increases the fault tolerance rate during the installation process. Even if the operation is slightly deviated, the anchor can return to its position smoothly under the guidance of the inclined surface 153.

[0048] Furthermore, the first slide rail 111 and the second slide rail 112 are both provided with guide surfaces 114, which are inclined and correspond to the inclined surfaces 153. That is, the guide surfaces 114 and the inclined surfaces 153 form a V-shaped guide structure to accurately guide the anchor into the arc groove 22.

[0049] Furthermore, the inclination angles of the inclined surface 153 and the guide surface 114 can be set to 45° to 60°, which can not only provide sufficient guiding force to ensure that the anchor or other related components can move smoothly and accurately along the predetermined path, but also avoid structural instability or operational difficulties caused by excessive inclination angles. In this embodiment, the inclination angles of the inclined surface 153 and the guide surface 114 are both set to 60°.

[0050] In addition, an embodiment of the present invention further provides an anchor undocking device, which includes a mechanical arm and the above-mentioned anchor undocking device 100, and the anchor undocking device 100 is arranged on the mechanical arm. Among them, the mechanical arm is usually composed of multiple joints, such as rotation joints, translation joints, etc., and the mechanical arm can drive the anchor undocking device 100 to move flexibly in three-dimensional space. The arc groove 22 is aligned with the anchor, thereby realizing the removal of the anchor.

[0051] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0052] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0053] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0054] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0055] In the present invention, the terms "one embodiment", "some embodiments", etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and the features of different embodiments or examples without contradiction.

[0056] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. An anchor undocking device, characterized in that: It includes a base frame and a power component, the base frame is provided with an anchor seat and a tool, the tool and the anchor seat are arranged relative to each other, the tool is movable relative to the anchor seat, and the anchor seat is used to position the anchor; the power component includes a pushing cylinder and a transmission rod, the pushing cylinder is arranged on the base frame, the transmission rod is rotatably arranged on the base frame, one end of the transmission rod abuts against the tool, and the other end of the transmission rod abuts against the output end of the pushing cylinder, an elastic member is provided between the tool and the base frame, and the tool and the anchor seat are both located above the pushing cylinder.

2. The anchor undocking device according to claim 1, characterized in that: The transmission rod has a rotating part, a first abutting section and a second abutting section located on both sides of the rotating part, the first abutting section abuts against the tool, the second abutting section abuts against the output end of the push cylinder, and the first abutting section and the second abutting section are both provided with arc-shaped abutting surfaces.

3. The anchor undocking device according to claim 2, characterized in that: The first abutting section, the rotating portion and the second abutting section are connected in sequence in a U shape.

4. The anchor undocking device according to claim 1, characterized in that: The base frame includes a first slide rail and a second slide rail which are arranged opposite to each other. The first slide rail and the second slide rail are both provided with a slide groove. The tool has a sliding block which matches with the slide groove. The elastic member is arranged in the slide groove.

5. The anchor undocking device according to claim 1, characterized in that: The tool has a tool head, and the cutting angle of the tool head is 30° to 60°.

6. The anchor undocking device according to claim 1, characterized in that: The base frame also includes a fixing seat and a fixing ring. The push cylinder is installed on the fixing seat. The fixing ring is connected to the fixing seat. The fixing ring is sleeved on the outer side of the push cylinder.

7. The anchor undocking device according to claim 1, characterized in that: The pushing cylinder is configured as a hydraulic cylinder, and the hydraulic medium of the hydraulic cylinder is an emulsion.

8. The anchor undocking device according to claim 1, characterized in that: The base frame also includes a mounting seat, one of the mounting seat and the anchor seat is provided with a mounting groove, and the other of the mounting seat and the anchor seat is provided with a clamping column, and the clamping column is detachably clamped into the mounting groove.

9. The anchor undocking device according to claim 8, characterized in that: The clamping column is arranged in a T-shape, and the mounting groove is adapted to the shape of the clamping column; And / or, the mounting seat has two inclined surfaces, and the two inclined surfaces are correspondingly arranged on two sides of the mounting groove.

10. An anchor undocking device, characterized in that: It comprises a mechanical arm and the anchor unanchoring device as described in any one of claims 1 to 9, wherein the anchor unanchoring device is arranged on the mechanical arm.

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