Mining anchor withdrawing vehicle

Abstract

The invention relates to the technical field of anchor withdrawing vehicles, and discloses a mining anchor withdrawing vehicle which comprises a collecting mechanism, the collecting mechanism comprises a collecting assembly, the collecting assembly comprises a base, a first driving part, an adjusting rod and a clamping jaw, the first driving part is installed on the base, the middle of the adjusting rod is connected to the telescopic end of the first driving part, and the clamping jaw comprises two clamping rods rotationally connected to the base; the adjusting rod is in sliding fit with the two clamping rods to adjust the included angle between the two clamping rods. The anchor withdrawing mechanism is connected to the collecting mechanism; and the anchor withdrawing vehicle main body is connected to the anchor withdrawing mechanism. According to the mining anchor withdrawing vehicle, the telescopic end of the first driving part is controlled to extend or retract to drive the adjusting rod to move, so that the included angle between the two clamping rods is driven to be increased or decreased, mechanical bundling of a steel strand can be completed, it is guaranteed that an anchor ring can smoothly enter an anchor withdrawing mechanism, and the anchor withdrawing efficiency is improved. And therefore, the anchor ring can be pinched off by the anchor withdrawing mechanism, and the applicability of the mining anchor withdrawing vehicle to the working environment is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of anchor removal vehicles, and more particularly to an anchor removal vehicle for mining. Background Art

[0002] The mining anchor removal vehicle (also called anchor removal robot or anchor removal drilling vehicle) is a device specially designed for underground coal mines. It is mainly used for anchor removal operations on the top of the fully mechanized mining working face. Its core function is to dismantle and recover support materials such as clips, pallets, and steel strands, so as to release the roof pressure in time and eliminate safety hazards in the goaf.

[0003] The existing mining anchor withdrawal vehicle uses a mechanical clamping method to cut off the anchor ring to achieve anchor withdrawal. However, due to long-term support, the outer steel strand (the part of the steel strand extending out of the surrounding rock) will loosen. When the cutter head of the anchor withdrawal mechanism of the anchor withdrawal vehicle moves to the outside of the anchor ring, the anchor withdrawal mechanism will interfere with the loose steel strand, and manual tightening of the steel strand is dangerous and very inconvenient. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects in the prior art and provide a mining anchor unwinding vehicle which can achieve mechanical contraction of steel strands so that the cutter head of the anchor unwinding mechanism can move to the outside of the anchor ring to clamp off the anchor ring.

[0005] To achieve the above-mentioned purpose, the technical solution of the present invention is to provide a mining anchor removal vehicle, comprising:

[0006] A gathering mechanism, comprising a gathering assembly, wherein the gathering assembly comprises a base, a first driving member, an adjusting rod and a clamping claw, wherein the first driving member is mounted on the base, the middle portion of the adjusting rod is connected to the telescopic end of the first driving member, the clamping claw comprises two clamping rods rotatably connected to the base, the two ends of the adjusting rod are respectively slidably connected to the two clamping rods, and the adjusting rod adjusts the included angle of the two clamping rods by slidingly cooperating with the two clamping rods; An anchor withdrawal mechanism, connected to the tightening mechanism, used to clip off the anchor ring; The anchor unloading vehicle body is connected to the anchor unloading mechanism and is used to drive the anchor unloading mechanism and the gathering mechanism to move.

[0007] By using the mining anchor withdrawal vehicle described in the present invention, by controlling the extension or shortening of the telescopic end of the first driving member, the adjusting rod is driven to move, thereby driving the angle between the two clamping rods to increase or decrease, the mechanical contraction of the steel strand can be completed, ensuring that the anchor ring can smoothly enter the anchor withdrawal mechanism so that the anchor withdrawal mechanism can clamp and cut the anchor ring, thereby greatly improving the applicability of the mining anchor withdrawal vehicle to the working environment.

[0008] Preferably, the base is provided with a first fixed shaft, the clamping rod comprises a straight rod section and an arc section, the two straight rod sections are rotatably connected to the two ends of the first fixed shaft respectively, the two arc sections are arranged opposite to each other, the straight rod section is provided with a slide groove, a sliding drive block rotatably connected to the adjusting rod is slidably connected in the slide groove. With such a design, the two clamping rods can form a cross structure to effectively converge the steel strands, and the clamping claws can converge steel strands of different specifications and sizes.

[0009] Preferably, the tightening mechanism further includes a position adjustment component, which includes a rotation adjustment part, a linear module and a support plate, wherein the rotation adjustment part is connected to the anchor removal mechanism, the linear module is connected to the rotation adjustment part, the support plate is connected to the driving end of the linear module, and the base is connected to the support plate. Such a design is conducive to reducing the production cost of the clamp and improving the reliability of the clamp in tightening the steel strand.

[0010] Preferably, the rotation adjustment part includes a fixed frame, a first rotating shaft, a second driving member, a driving gear, a second rotating shaft, a driven gear and a rotating frame, the fixed frame is connected to the anchor removal mechanism, the first rotating shaft is rotationally connected to the fixed frame, the second driving member is fixedly mounted on the fixed frame, and the rotation driving end of the second driving member is drivingly connected to the first rotating shaft, the driving gear is fixedly sleeved with the first rotating shaft, the second rotating shaft is rotationally connected to the fixed frame, the driven gear is fixedly sleeved with the second rotating shaft, and the driven gear is meshingly connected with the driving gear, the rotating frame is fixedly connected to the second rotating shaft, and the rotating frame is fixedly connected to the linear module. With such a design, the rotation adjustment of the linear module, the support plate and the collection assembly can be completed by driving the first rotating shaft to rotate through the first driving member.

[0011] Preferably, the support plate is provided with a mounting groove that is slidably matched with the base, a third driving member is fixedly mounted on the support plate, and the telescopic end of the third driving member is fixedly connected to the base. Such a design is conducive to a better convergence effect of the clamping claw, and can effectively avoid interference between the clamping claw and the steel strand when the rotation adjustment part rotates and adjusts the linear module, the support plate and the convergence assembly.

[0012] Preferably, the anchor removal mechanism comprises a knife seat, a driving plate, a double-head telescopic oil cylinder, a driving rod, a knife head and a connecting plate, wherein the knife seat is provided with a working groove for accommodating an anchor ring and a steel strand, the knife seat is provided with two first guide grooves connected to the working groove, the driving plate, the driving rod and the knife head are provided with two, one end of the two driving plates is respectively connected to the two telescopic ends of the double-head telescopic oil cylinder, the middle of the two driving plates is respectively connected to the two ends of the knife seat, the other end of the two driving plates is respectively connected to the two driving rods through a connecting rod, the two driving rods are respectively connected to the two first guide grooves in a sliding manner, the two knife heads are respectively fixedly mounted on the ends of the two driving rods close to each other, the connecting plate is fixedly mounted on the knife seat, the connecting plate is connected to the main body of the anchor removal vehicle, and the fixing frame is fixedly mounted on the connecting plate. With such a design, the two knife heads can be controlled to approach or move away from each other by controlling the extension and contraction of the double-head telescopic oil cylinder, so as to complete the cutting and clamping of the anchor ring and the resetting of the knife heads.

[0013] Preferably, the cutter head is provided with a V-shaped blade, the cutting tip of the blade has an edge line, and the edge line is arranged in a direction away from the driving rod and inclined toward the double-head telescopic cylinder. Such a design is conducive to improving the cutting efficiency of the blade.

[0014] Preferably, the anchor withdrawal mechanism further includes a positioning block, a fourth drive member and a spring, the knife seat is provided with two second guide grooves connected with the working groove, the positioning block is provided with a V-shaped groove, the positioning block is provided with a mounting hole for installing the spring, the positioning block, the fourth drive member and the spring are each provided with two, the two positioning blocks are respectively slidably connected with the two second guide grooves, the two fourth drive members are respectively fixedly installed on both sides of the knife seat, one end of the spring is connected to the positioning block, and the other end of the spring is connected to the telescopic end of the fourth drive member. Such a design is conducive to clamping and positioning the anchor ring, ensuring that the cutting position is located on the symmetrical plane of the anchor ring, which is conducive to cutting off the anchor ring, and by providing a spring, the positioning block and the blade can be protected, which is conducive to reducing the maintenance cost of the positioning block and the knife head.

[0015] Preferably, the connecting plate is provided with a supporting surface, the center line of the second rotating shaft is located on the symmetry plane of the rotating frame, and the distance between the center line of the second rotating shaft and the supporting surface is half the width of the rotating frame. Such a design is conducive to reducing the wear of the driving gear and the driven gear.

[0016] Preferably, the anchor unwinding vehicle body comprises a machine body and a mechanical arm, one end of the mechanical arm is connected to the machine body, and the other end of the mechanical arm is connected to the connecting plate. Such a design allows the mechanical arm to adjust the position of the connecting plate to complete the position adjustment of the anchor unwinding mechanism and the binding mechanism, which is conducive to the anchor unwinding work.

[0017] The beneficial effects of the present invention are: 1. By using the anchor unwinding vehicle for mining of the present invention, by controlling the extension or shortening of the telescopic end of the first driving member, the adjusting rod is driven to move, thereby driving the angle between the two clamping rods to increase or decrease, the mechanical contraction of the steel strand can be completed, and the anchor ring can be ensured to smoothly enter the anchor unwinding mechanism, so that the anchor unwinding mechanism can clamp and cut the anchor ring, which greatly improves the applicability of the anchor unwinding vehicle for mining to the working environment; 2. By setting up the linear module, the two clamping rods of the clamping jaws can first form a cross structure at the locking section, and then move from the locking section to the suspended section to complete the contraction of the steel strands, thereby improving the reliability of the contraction of the steel strands; 3. By setting two positioning blocks, the anchor ring can be accurately positioned so that the cutting position is located on the symmetric plane of the anchor ring, thereby improving the reliability of the cutter head in cutting the anchor ring; 4. The blade edge is tilted to facilitate cutting into the anchor ring and give priority to cutting the weak part of the anchor ring, which is beneficial to improving the cutting efficiency of the anchor ring; 5. By designing the distance between the center line of the second shaft and the supporting surface to be half the width of the rotating frame, the supporting surface can provide support for the rotating frame, reduce the mutual wear between the driving gear and the driven gear, and help reduce maintenance costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the main cross-section of the anchor cable; Figure 2 It is a schematic diagram of the overall structure of a mining anchor removal vehicle; Figure 3 is a schematic diagram of a first three-dimensional structure of a convergence assembly, a support plate and a third driving member; Figure 4 is a schematic diagram of a second three-dimensional structure of a convergence assembly, a support plate and a third driving member; Figure 5 It is a three-dimensional structural diagram of the base; Figure 6 Schematic diagram of the three-dimensional structure of the clamping rod; Figure 7 is a schematic diagram of the three-dimensional structure of the sliding drive block; Figure 8 It is a schematic diagram of the first three-dimensional structure of the convergence mechanism and the anchor withdrawal mechanism; Fig. 9is a side view schematic diagram of an anchor cable, a bunching assembly, a support plate and a third driving member; Fig.10 It is a schematic diagram of the three-dimensional structure of the rotating adjustment part; Fig.11 1 is a schematic diagram of the three-dimensional structure of the fixing frame; Fig.12 It is a three-dimensional structural schematic diagram of the rotating frame; Fig.13 It is a three-dimensional structural diagram of the knife holder; Fig.14 It is a three-dimensional structural schematic diagram of the anchor withdrawal mechanism; Fig.15 is a top view schematic diagram of the anchor withdrawal mechanism; Fig.16 is a schematic diagram of a front cross-sectional view of the anchor withdrawal mechanism; Fig.17 is a side cross-sectional schematic diagram of the anchor withdrawal mechanism; Fig.18 It is a schematic diagram of the three-dimensional structure of the cutter head; Fig.19 This is a schematic diagram of the first three-dimensional structure of the positioning block; Fig. 20 It is a schematic diagram of the second three-dimensional structure of the positioning block; Fig.21 Schematic diagram of the three-dimensional structure of the connecting plate; Fig. 22 It is a second three-dimensional structural schematic diagram of the convergence mechanism and the anchor withdrawal mechanism (one side of the rotating frame is in contact with the supporting surface).

[0019] In the figure: 100, the convergence mechanism; 110, the base; 111, the first fixed axis; 120, the first driving member; 130, the adjusting rod; 140, the clamping claw; 141, the clamping rod; 1411, the straight rod section; 1412, the arc section; 1413, the slide groove; 1414, the avoidance groove; 150, the sliding driving block; 151, the second fixed axis; 160, the rotation adjustment part; 161, the fixed frame; 1611, the first through hole; 1612, the second through hole; 162, the first rotating shaft; 163, the second driving member; 164, the driving gear; 165, the second rotating shaft; 166, the driven gear; 167, the rotating frame; 1671, the third through hole; 170, the linear module; 180, the support plate; 181, the mounting groove; 182, the reference surface; 190, the third driving member; 200, anchor withdrawal mechanism; 210, knife seat; 211, working groove; 212, first guide groove; 213, second guide groove; 220, driving plate; 221, connecting rod; 222, third rotating shaft; 223, fourth rotating shaft; 224, fifth rotating shaft; 225, sixth rotating shaft; 230, double-head telescopic oil cylinder; 240, driving rod; 250, knife head; 251, blade; 260, connecting plate; 261, supporting surface; 270, positioning block; 271, V-shaped groove; 272, mounting hole; 280, fourth driving member; 290, spring; 300, anchor removal vehicle body; 310, machine body; 320, mechanical arm; 410, steel strand; 411, locking section; 412, suspended section; 420, anchor ring; 430, clip; 440, retaining hoop; 450, tray. DETAILED DESCRIPTION

[0020] The subject matter described herein will now be discussed with reference to example embodiments. It should be understood that the discussion of these embodiments is to enable those skilled in the art to better understand and implement the subject matter described herein. The functions and arrangements of the elements discussed may be changed without departing from the scope of protection of the present specification. Various examples may omit, replace or add various processes or components as needed. In addition, the features described relative to some examples may also be combined in other examples.

[0021] In order to better understand the present invention, Figure 1-Figure 22 A mining anchor removal vehicle of the present invention is described in detail.

[0022] Embodiment 1: like Figure 1-Figure 4 As shown, a mining anchor removal vehicle comprises: The gathering mechanism 100 includes a gathering component, which includes a base 110, a first driving member 120, an adjusting rod 130 and a clamping claw 140. The first driving member 120 is installed on the base 110. The middle part of the adjusting rod 130 is connected to the telescopic end of the first driving member 120. The clamping claw 140 includes two clamping rods 141 rotatably connected to the base 110. The two ends of the adjusting rod 130 are respectively slidably connected to the two clamping rods 141. The adjusting rod 130 adjusts the angle between the two clamping rods 141 by slidingly cooperating with the two clamping rods 141. The anchor withdrawal mechanism 200 is connected to the tightening mechanism 100 and is used to clip off the anchor ring 420; The anchor unwinding vehicle body 300 is connected to the anchor unwinding mechanism 200 and is used to drive the anchor unwinding mechanism 200 and the gathering mechanism 100 to move.

[0023] It should be noted that the anchor cable includes a steel strand 410, an anchor ring 420, a clip 430, a hoop 440 and a tray 450. The steel strand 410 is formed by twisting a plurality of steel wires according to a specific lay pitch and lay direction. The anchor ring 420 is provided with a conical hole. A plurality of clips 430 are provided. The plurality of clips 430 form a wedge-shaped fit with the conical hole. The plurality of clips 430 are annularly wrapped around the outer ring of the steel strand 410. In the process of pulling the steel strand 410 so that the clip 430 extends into the conical hole, the clip 430 bites and locks the steel strand 410 by fitting with the conical hole. The end face of the tray 450 away from the anchor ring 420 is attached to the surrounding rock, thereby effectively increasing the contact area between the anchor cable and the surrounding rock, thereby improving the support effect. The hoop 440 is located between the anchor ring 420 and the tray 450, and is used to ensure that the tension of the anchor cable is evenly diffused to the surrounding rock along the tray 450. The first driving member 120 is fixedly mounted on the base 110. The telescopic end of the first driving member 120 is extended or shortened, thereby driving the adjusting rod 130 to move, and then driving the two clamping rods 141 to rotate, thereby adjusting the angle between the two clamping rods 141. Initially, the two clamping rods 141 are opened to enclose all the steel strands 410 at the loose ends. Subsequently, the first driving member 120 drives the adjusting rod 130 to move, so that the angle between the two clamping rods 141 is reduced, thereby driving the loose steel strands The wire 410 gathers inward to achieve the contraction of the steel strand 410. When the anchor unloading mechanism 200 moves toward the direction close to the anchor ring 420 and part of the steel strand 410 enters the anchor unloading mechanism 200, the contraction component releases the contraction of the steel strand 410. Under the guidance of the internal structure of the anchor unloading mechanism 200, the steel strand 410 will no longer interfere with the anchor unloading mechanism 200. As the anchor unloading mechanism 200 continues to move toward the direction close to the anchor ring 420, the anchor ring 420 can smoothly enter the anchor unloading mechanism 200.

[0024] In this embodiment, the first driving member 120 is configured as a hydraulic cylinder to ensure the stability of the clamping jaws 140 in tightening the steel strands 410 .

[0025] By using the mining anchor removal vehicle of the present invention, by controlling the extension or shortening of the telescopic end of the first driving member 120, the adjusting rod 130 is driven to move, thereby driving the angle between the two clamping rods 141 to increase or decrease, the mechanical contraction of the steel strand 410 can be completed, ensuring that the anchor ring 420 can smoothly enter the anchor removal mechanism 200, so that the anchor removal mechanism 200 can clamp and cut the anchor ring 420, thereby greatly improving the applicability of the mining anchor removal vehicle to the working environment.

[0026] Embodiment 2: As an optimization of Example 1, Figure 5-Figure 7As shown, a first fixed shaft 111 is provided on the base 110, and the clamping rod 141 includes a straight rod section 1411 and an arc section 1412. The two straight rod sections 1411 are respectively rotatably connected to the two ends of the first fixed shaft 111, and the two arc sections 1412 are relatively arranged. The straight rod section 1411 is provided with a sliding groove 1413, and a sliding driving block 150 rotatably connected to the adjusting rod 130 is slidably connected in the sliding groove 1413.

[0027] It should be noted that the movement of the adjusting rod 130 drives the two sliding drive blocks 150 to slide along the two slide grooves 1413 respectively, thereby driving the two clamping rods 141 to rotate around the first fixed axis 111, completing the angle adjustment between the two clamping rods 141, and the arc segment 1412 is used to converge the steel strand 410. Since the two arc segments 1412 are relatively arranged, the clamp 140 can converge the steel strands 410 of different specifications and sizes, thereby improving the applicability of the clamp 140 for convergence. When the clamp 140 completes the convergence of the steel strand 410, the two clamping rods 141 form a cross structure to achieve effective convergence of the steel strand 410.

[0028] In this embodiment, the sliding drive block 150 is provided with a second fixed shaft 151 rotatably connected to the adjusting rod 130. The movement of the adjusting rod 130 drives the second fixed shaft 151 to move, thereby driving the sliding drive block 150 to slide along the sliding groove 1413. The straight rod section 1411 is provided with an avoidance groove 1414 to avoid interference between the two clamping rods 141 during rotation.

[0029] Embodiment 3: As an optimization of Example 2, Figure 3 , Figure 4 , Figure 8 and Fig. 9 As shown, the convergence mechanism 100 also includes a position adjustment component, which includes a rotation adjustment part 160, a linear module 170 and a support plate 180. The rotation adjustment part 160 is connected to the anchor removal mechanism 200, the linear module 170 is connected to the rotation adjustment part 160, the support plate 180 is connected to the driving end of the linear module 170, and the base 110 is connected to the support plate 180.

[0030] It should be noted that the outer steel strand 410 includes a locking section 411 and a suspended section 412. The looseness of the steel strand 410 gradually increases along the locking section 411 toward the suspended section 412. Since the maximum looseness of the suspended section 412 is uncertain, in order to ensure that the clamp 140 can gather all the steel strands 410, the clamp 140 needs to be made as large as possible, which will increase the manufacturing cost of the clamp 140, and there is still a situation where the steel strand 410 is too loose and the clamp 140 cannot gather all the steel strands 410. By setting the linear module 170 and the support plate 180, the linear module 170 drives the support plate 180 to move, thereby driving the convergence assembly to move, so that the clamping claw 140 surrounds the locking section 411, and then the first driving member 120 is controlled to drive the adjustment rod 130 to move, so that the angle between the two clamping rods 141 is reduced, and the two clamping rods 141 form a cross structure, and then the linear module 170 drives the support plate 180 to move toward the direction close to the suspended section 412, and the convergence assembly moves synchronously with the support plate 180. In this process, under the constraint of the two clamping rods 141, the steel strands 410 of the suspended section 412 gather inwards. Since the looseness of the locking section 411 is very small, the size of the clamping jaw 140 can be made smaller, which is conducive to reducing the production cost of the clamping jaw 140. In addition, when the two clamping rods 141 form a cross structure and continue to close, the two clamping rods 141 will not be stuck at the intersection and the steel strands 410 will not be able to continue to close to gather the steel strands 410. It is ensured that the clamping jaw 140 can gather all the steel strands 410, which improves the reliability of the clamping jaw 140 to gather the steel strands 410. In addition, the locking section 411 is not easy to shake, which is conducive to the effective gathering of the steel strands 410 by the clamping jaw 140; The rotating adjustment part 160 is used to adjust the positions of the linear module 170, the support plate 180 and the bundling assembly. When the suspended section 412 enters the anchor withdrawal mechanism 200, the bundling assembly releases the bundling of the steel strand 410, and the rotating adjustment part 160 drives the linear module 170, the support plate 180 and the bundling assembly to rotate away from the anchor ring 420, so as to prevent the bundling mechanism 100 from affecting the anchor withdrawal mechanism 200 approaching the anchor ring 420.

[0031] Embodiment 4: As an optimization of Example 3, Figure 8 , Fig.10 , Fig.11 and Fig.12 As shown, the rotation adjustment part 160 includes a fixed frame 161, a first rotating shaft 162, a second driving member 163, a driving gear 164, a second rotating shaft 165, a driven gear 166 and a rotating frame 167. The fixed frame 161 is connected to the anchor removal mechanism 200, the first rotating shaft 162 is rotationally connected to the fixed frame 161, the second driving member 163 is fixedly installed on the fixed frame 161, and the rotation driving end of the second driving member 163 is drivingly connected to the first rotating shaft 162, the driving gear 164 is fixedly sleeved with the first rotating shaft 162, the second rotating shaft 165 is rotationally connected to the fixed frame 161, the driven gear 166 is fixedly sleeved with the second rotating shaft 165, and the driven gear 166 is meshed with the driving gear 164, the rotating frame 167 is fixedly connected to the second rotating shaft 165, and the rotating frame 167 is fixedly connected to the linear module 170.

[0032] It should be noted that the fixed frame 161 is fixedly installed on the anchor undocking mechanism 200, the axis of the first rotating shaft 162 coincides with the center line of the driving gear 164, the axis of the second rotating shaft 165 coincides with the center line of the driven gear 166, the second driving member 163 drives the first rotating shaft 162 to rotate, thereby driving the driving gear 164 to rotate, and then driving the driven gear 166 to rotate, the second rotating shaft 165 rotates synchronously with the driven gear 166, thereby driving the rotating frame to rotate, and then driving the linear module 170, the support plate 180 and the focusing assembly to rotate, completing the position adjustment.

[0033] In this embodiment, the first driving member 120 is configured as a motor, and a first through hole 1611 is penetrated on the fixed frame 161 for rotationally cooperating with the first rotating shaft 162, a second through hole 1612 is penetrated on the fixed frame 161 for rotationally cooperating with the second rotating shaft 165, and a third through hole 1671 is penetrated on the rotating frame 167 for installing the second rotating shaft 165.

[0034] Embodiment 5: As an optimization of Example 4, Figure 3 and Figure 4 As shown, the support plate 180 is provided with a mounting groove 181 which is slidably matched with the base 110 , and the third driving member 190 is fixedly mounted on the support plate 180 , and the telescopic end of the third driving member 190 is fixedly connected to the base 110 .

[0035] It should be noted that the end surface of the support plate 180 away from the linear module 170 is set as a reference surface 182. When the spacing between the locking section 411 and the reference surface 182 is small, or even the locking section 411 contacts the reference surface 182, the telescopic end of the third driving member 190 is extended, driving the convergence assembly to move toward the direction close to the steel strand 410, so that the clamping jaws 140 surround the locking section 411, and then adjust the angle between the two clamping rods 141 to reduce and form a cross structure. According to the different radial dimensions of the steel strand 410, the extension length of the telescopic end of the third driving member 190 is adjusted, and the reference surface 182 can complete the convergence of the steel strand 410 together with the two clamping rods 141, which is conducive to the clamping jaws 140 to achieve a better convergence effect. When the clamp 140 releases the restraint on the steel strand 410, the telescopic end of the third drive member 190 shortens, driving the base 110 to slide along the mounting groove 181 in the direction away from the steel strand 410, and the other components of the restraining assembly move synchronously with the base 110, so that the entire restraining assembly is located on the side of the reference surface 182 away from the steel strand 410, avoiding interference between the clamp 140 and the steel strand 410 when the rotating adjustment part 160 rotates and adjusts the linear module 170, the support plate 180 and the restraining assembly, resulting in the inability to perform adjustment; the third drive member 190 can be set as a cylinder or a hydraulic cylinder.

[0036] Embodiment 6: As an optimization of Example 5, Figure 8 , Fig.13 , Fig.14 , Fig.15 , Fig.16 and Fig.17 As shown, the anchor release mechanism 200 includes a knife seat 210, a driving plate 220, a double-head telescopic oil cylinder 230, a driving rod 240, a knife head 250 and a connecting plate 260. The knife seat 210 is provided with a working groove 211 for accommodating the anchor ring 420 and the steel strand 410. The knife seat 210 is provided with two first guide grooves 212 connected to the working groove 211. The driving plate 220, the driving rod 240 and the knife head 250 are each provided with two. One end of the two driving plates 220 is respectively rotated with the two telescopic ends of the double-head telescopic oil cylinder 230. The middle parts of the two driving plates 220 are respectively rotatably connected to the two ends of the knife holder 210, and the other ends of the two driving plates 220 are respectively driven and connected to the two driving rods 240 through the connecting rods 221. The two driving rods 240 are respectively slidably connected to the two first guide grooves 212. The two cutter heads 250 are respectively fixedly installed on the ends of the two driving rods 240 close to each other. The connecting plate 260 is fixedly installed on the knife holder 210, and the connecting plate 260 is connected to the anchor removal vehicle body 300. The fixing frame 161 is fixedly installed on the connecting plate 260.

[0037] It should be noted that the knife seat 210 is provided with a first symmetry plane, which is perpendicular to the length direction of the double-head telescopic oil cylinder 230, and the two first guide grooves 212, the two drive plates 220, the two drive rods 240 and the two knife heads 250 are all symmetrically arranged about the first symmetry plane; when part of the steel strand 410 enters the working groove 211, the clamping jaws 140 release the contraction of the steel strand 410, and under the guidance of the working groove 211, the steel strand 410 will no longer interfere with the knife seat 210; When the anchor ring 420 enters the working groove 211, the two telescopic ends of the double-headed telescopic cylinder 230 extend to drive the two driving plates 220 to rotate, thereby driving the connecting rod 221 to move and push the two driving rods 240, so that the two driving rods 240 move along the length direction of the two first guide grooves 212 respectively, and the two cutter heads 250 move synchronously with the two driving rods 240 in a direction close to each other to cut the anchor ring 420. In the process of the cutter head 250 penetrating into the anchor ring 420, a notch is cut out of the anchor ring 420, and the notch gradually increases. Under the extrusion of the cutter head 250, the anchor ring 420 bulges on both sides of the notch. When the cutter head 250 penetrates into the anchor ring 420 to a certain extent, under the combined action of the outward extrusion force of the internal clip 430 and the inward cutting force of the cutter head 250, the local stress at the notch exceeds the strength limit of the anchor ring 420, resulting in a rapid expansion of the notch, causing the anchor ring 420 to break and explode along the notch.

[0038] In this embodiment, four connecting rods 221 are provided, and every two connecting rods 221 correspond to one driving plate 220, and the two connecting rods 221 are symmetrically arranged about the symmetric plane of the corresponding driving plate 220, one end of each driving plate 220 is rotatably connected to one of the telescopic ends of the double-head telescopic cylinder 230 through the third rotating shaft 222, the middle part of each driving plate 220 is rotatably connected to one end of the knife holder 210 through the fourth rotating shaft 223, the other end of each driving plate 220 is rotatably connected to one end of the corresponding two connecting rods 221 through the fifth rotating shaft 224, and the other ends of the two connecting rods 221 are rotatably connected to one of the driving rods 240 through the sixth rotating shaft 225; The distance between the center line of the third rotating shaft 222 and the center line of the fourth rotating shaft 223 is greater than the distance between the center line of the fourth rotating shaft 223 and the center line of the fifth rotating shaft 224. By utilizing the principle of the force-saving lever, the driving force requirement for the double-headed telescopic cylinder 230 can be reduced, which is beneficial to saving energy consumption.

[0039] Embodiment 7: As an optimization of Example 6, Fig.15 , Fig.16 and Fig.18 As shown, the cutter head 250 is provided with a V-shaped blade 251 , and the cutting tip of the blade 251 has an edge line, which is arranged in an inclined direction away from the driving rod 240 and toward the double-head telescopic cylinder 230 .

[0040] It should be noted that, by designing the blade 251 with a V-shaped structure, the gap can be quickly and effectively expanded during the process of the blade 251 cutting the anchor ring 420, thereby improving the cutting efficiency of the blade 251, and the positioning block 270 can position anchor rings 420 of different sizes, thereby improving the applicability of the anchor withdrawal mechanism 200; by designing the edge line of the blade 251 to be inclined downward in the direction away from the driving rod 240, on the one hand, the initial contact area between the blade 251 and the anchor ring 420 can be reduced. The small contact area and the high pressure are conducive to the blade 251 cutting into the anchor ring 420 and forming a gap, and the required cutting force is relatively small. On the other hand, the wall thickness of the anchor ring 420 gradually decreases in the direction away from the tray 450. Such a design is conducive to preferentially cutting the thinner part of the anchor ring 420, thereby making it more conducive to cutting off the anchor ring 420.

[0041] Embodiment 8: As an optimization of Example 7, Fig.14 , Fig.15 , Fig.17 , Fig.19 and Fig. 20As shown, the anchor removal mechanism 200 also includes a positioning block 270, a fourth driving member 280 and a spring 290. The knife seat 210 is provided with two second guide grooves 213 connected to the working groove 211. The positioning block 270 is provided with a V-shaped groove 271. The positioning block 270 is provided with a mounting hole 272 for installing the spring 290. There are two positioning blocks 270, four driving members 280 and spring 290. The two positioning blocks 270 are respectively slidably connected to the two second guide grooves 213. The two fourth driving members 280 are respectively fixedly installed on both sides of the knife seat 210. One end of the spring 290 is connected to the positioning block 270, and the other end of the spring 290 is connected to the telescopic end of the fourth driving member 280.

[0042] It should be noted that the knife seat 210 is provided with a second symmetry plane, the second symmetry plane is perpendicular to the first symmetry plane, and the center line of the double-head telescopic cylinder 230 is located on the second symmetry plane, the two positioning blocks 270, the two fourth driving members 280 and the two springs 290 are all symmetrically arranged about the second symmetry plane, and the edge lines of the two blades 251 are both located on the second symmetry plane; One end of the spring 290 connected to the positioning block 270 is located in the mounting hole 272. The mounting hole 272 can play a certain guiding role to prevent the spring 290 from bending laterally. The telescopic ends of the two fourth driving members 280 extend, driving the two springs 290 to move in a direction close to each other, thereby pushing the two positioning blocks 270 to move in a direction close to each other. The two positioning blocks 270 position the anchor ring 420 through the V-shaped groove 271 to ensure that the cutting position is located on the symmetric surface of the anchor ring 420. The blade 251 cuts along the radial direction of the anchor ring 420, and the required cutting thickness is minimized, which is more conducive to cutting the anchor ring 420. In addition, the blade 251 is subjected to uniform force on both sides during the cutting process, and the blade 251 is not easily damaged. During the initial cutting, a small part of the blade 251 cuts into the anchor ring 420. During this process, the parts on both sides of the notch of the anchor ring 420 are slightly raised, squeezing the positioning block 270. The squeezing force is transmitted to the spring 290, and the spring 290 is compressed, thereby protecting the positioning block 270 and the blade 251. If the spring 290 is not provided, on the one hand, the anchor ring 420 bulges and squeezes the positioning block 270, which will increase the wear of the positioning block 270. On the other hand, the positioning block 270 hinders the bulge of the anchor ring 420, which will increase the friction between the blade 251 and the notch of the anchor ring 420, making it more difficult for the blade 251 to cut into the anchor ring 420, and also increasing the wear of the blade 251. After the initial cutting, the telescopic ends of the two fourth driving members 280 are shortened, driving the two springs 290 to move away from each other, thereby pushing the two positioning blocks 270 to move away from each other, until the two positioning blocks 270 are all moved into the second guide groove 213, releasing the clamping positioning of the anchor ring 420 and providing space for the subsequent opening of the anchor ring 420. In the subsequent cutting process of the anchor ring 420, the notch formed by the initial cutting will play a guiding role, ensuring that the edge lines of the two blades 251 are always located on the same symmetry plane of the anchor ring 420.

[0043] In this embodiment, the fourth driving member 280 is configured as a hydraulic cylinder.

[0044] Embodiment 9: As an optimization of Example 8, Figure 8 and Fig.10 , Fig.21 and Fig. 22 As shown, the connecting plate 260 is provided with a supporting surface 261 , the center line of the second rotating shaft 165 is located on the symmetry plane of the rotating frame 167 , and the distance between the center line of the second rotating shaft 165 and the supporting surface 261 is half of the width of the rotating frame 167 .

[0045] It should be noted that, since the distance between the center line of the second rotating shaft 165 and the supporting surface 261 is half the width of the rotating frame 167, the positions of the linear module 170, the supporting plate 180 and the gathering assembly are adjusted by rotating the adjusting portion 160 to avoid the gathering mechanism 100 affecting the anchor withdrawal mechanism 200 approaching the anchor ring 420, one side of the rotating frame 167 can be adjusted to fit the supporting surface 261 through the second driving member 163. The supporting surface 261 supports the rotating frame 167, which can reduce the extrusion force between the driving gear 164 and the driven gear 166, which is beneficial to reducing the wear of the driving gear 164 and the driven gear 166.

[0046] Embodiment 10: As an optimization of Example 9, Figure 1 As shown, the anchor withdrawing vehicle body 300 includes a body 310 and a mechanical arm 320 , one end of the mechanical arm 320 is connected to the body 310 , and the other end of the mechanical arm 320 is connected to the connecting plate 260 .

[0047] It should be noted that the robot arm 320 completes the position adjustment of the anchor unloading mechanism 200 and the gathering mechanism 100 by adjusting the position of the connecting plate 260. The robot arm 320 is set as a six-axis serial robot arm 320 to achieve the adjustment of any posture (position + posture) of the anchor unloading mechanism 200 and the gathering mechanism 100 in the three-dimensional space to facilitate the unloading work.

[0048] The embodiments of the invention are described above in conjunction with the accompanying drawings, but the present embodiment is not limited to the above-mentioned specific implementation modes, which are merely illustrative and not restrictive. Under the guidance of the present embodiment, ordinary technicians in this field can make many forms without departing from the purpose of the present embodiment and the scope of protection of the claims, all of which are within the protection of the present embodiment.

Claims

1. A mining anchor removal vehicle, characterized in that: include: A gathering mechanism (100) comprises a gathering component, wherein the gathering component comprises a base (110), a first driving member (120), an adjusting rod (130) and a clamping claw (140), wherein the first driving member (120) is mounted on the base (110), the middle portion of the adjusting rod (130) is connected to the telescopic end of the first driving member (120), the clamping claw (140) comprises two clamping rods (141) rotatably connected to the base (110), the two ends of the adjusting rod (130) are respectively slidably connected to the two clamping rods (141), and the adjusting rod (130) adjusts the included angle of the two clamping rods (141) by slidingly cooperating with the two clamping rods (141); An anchor withdrawal mechanism (200), connected to the contraction mechanism (100), and used for clipping off the anchor ring (420); The anchor unwinding vehicle body (300) is connected to the anchor unwinding mechanism (200) and is used to drive the anchor unwinding mechanism (200) and the gathering mechanism (100) to move.

2. A mining anchor removal vehicle according to claim 1, characterized in that: The base (110) is provided with a first fixed shaft (111), and the clamping rod (141) comprises a straight rod section (1411) and an arc section (1412), the two straight rod sections (1411) are rotatably connected to the two ends of the first fixed shaft (111), the two arc sections (1412) are arranged opposite to each other, and the straight rod section (1411) is provided with a sliding groove (1413), and a sliding driving block (150) rotatably connected to the adjusting rod (130) is slidably connected in the sliding groove (1413).

3. A mining anchor removal vehicle according to claim 1, characterized in that: The tightening mechanism (100) further comprises a position adjustment component, the position adjustment component comprising a rotation adjustment part (160), a linear module (170) and a support plate (180), the rotation adjustment part (160) being connected to the anchor removal mechanism (200), the linear module (170) being connected to the rotation adjustment part (160), the support plate (180) being connected to a driving end of the linear module (170), and the base (110) being connected to the support plate (180).

4. A mining anchor removal vehicle according to claim 3, characterized in that: The rotation adjustment portion (160) comprises a fixed frame (161), a first rotating shaft (162), a second driving member (163), a driving gear (164), a second rotating shaft (165), a driven gear (166) and a rotating frame (167); the fixed frame (161) is connected to the anchor removal mechanism (200); the first rotating shaft (162) is rotationally connected to the fixed frame (161); the second driving member (163) is fixedly mounted on the fixed frame (161); and a rotation driving end of the second driving member (163) is The first rotating shaft (162) is drivingly connected to the first rotating shaft (162), the driving gear (164) is fixedly sleeved with the first rotating shaft (162), the second rotating shaft (165) is rotationally connected to the fixed frame (161), the driven gear (166) is fixedly sleeved with the second rotating shaft (165), and the driven gear (166) is meshingly connected with the driving gear (164), the rotating frame (167) is fixedly connected to the second rotating shaft (165), and the rotating frame (167) is fixedly connected to the linear module (170).

5. A mining anchor removal vehicle according to claim 4, characterized in that: The support plate (180) is provided with a mounting groove (181) that slidably cooperates with the base (110), and a third driving member (190) is fixedly mounted on the support plate (180), and a telescopic end of the third driving member (190) is fixedly connected to the base (110).

6. A mining anchor removal vehicle according to claim 4, characterized in that: The anchor removal mechanism (200) comprises a knife seat (210), a driving plate (220), a double-head telescopic oil cylinder (230), a driving rod (240), a knife head (250) and a connecting plate (260); the knife seat (210) is provided with a working groove (211) for accommodating an anchor ring (420) and a steel strand (410); the knife seat (210) is provided with two first guide grooves (212) connected to the working groove (211); the driving plate (220), the driving rod (240) and the knife head (250) are each provided with two; one end of the two driving plates (220) is rotatably connected to the two telescopic ends of the double-head telescopic oil cylinder (230), respectively; The middle parts of the two driving plates (220) are rotatably connected to the two ends of the knife seat (210), and the other ends of the two driving plates (220) are drivingly connected to the two driving rods (240) through connecting rods (221). The two driving rods (240) are slidably connected to the two first guide grooves (212). The two knife heads (250) are fixedly mounted on the ends of the two driving rods (240) close to each other, and the connecting plate (260) is fixedly mounted on the knife seat (210). The connecting plate (260) is connected to the anchor removal vehicle body (300), and the fixing frame (161) is fixedly mounted on the connecting plate (260).

7. A mining anchor removal vehicle according to claim 6, characterized in that: The cutter head (250) is provided with a V-shaped blade (251), the cutting tip of the blade (251) having an edge line, and the edge line is arranged in an inclined direction away from the driving rod (240) and toward the double-head telescopic oil cylinder (230).

8. The anchor removal vehicle for mining according to claim 6, characterized in that: The anchor removal mechanism (200) further comprises a positioning block (270), a fourth driving member (280) and a spring (290); the knife seat (210) is provided with two second guide grooves (213) connected to the working groove (211); the positioning block (270) is provided with a V-shaped groove (271); the positioning block (270) is provided with a mounting hole (272) for mounting the spring (290); two positioning blocks (270), two fourth driving members (280) and two springs (290) are each provided with; the two positioning blocks (270) are respectively slidably connected to the two second guide grooves (213); the two fourth driving members (280) are respectively fixedly mounted on two sides of the knife seat (210); one end of the spring (290) is connected to the positioning block (270); and the other end of the spring (290) is connected to the telescopic end of the fourth driving member (280).

9. The anchor removal vehicle for mining according to claim 6, characterized in that: The connecting plate (260) is provided with a supporting surface (261), the center line of the second rotating shaft (165) is located on a symmetric plane of the rotating frame (167), and the distance between the center line of the second rotating shaft (165) and the supporting surface (261) is half the width of the rotating frame (167).

10. A mining anchor removal vehicle according to claim 6, characterized in that: The anchor removal vehicle body (300) comprises a body (310) and a mechanical arm (320); one end of the mechanical arm (320) is connected to the body (310), and the other end of the mechanical arm (320) is connected to the connecting plate (260).

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