A mine anchor withdrawing vehicle

Abstract

The present application relates to the technical field of anchor pulling-out vehicle, and discloses a mine anchor pulling-out vehicle, which comprises a convergence mechanism, an anchor pulling-out mechanism and an anchor pulling-out vehicle body.The convergence mechanism comprises a convergence assembly, the convergence assembly comprises a base, a first driving element, an adjusting rod and a clamping jaw, the first driving element is installed on the base, the middle part of the adjusting rod is connected to the telescopic end of the first driving element, the clamping jaw comprises two clamping rods which are rotatably connected to the base, and the adjusting rod adjusts the included angle of the two clamping rods through the sliding cooperation with the two clamping rods.The anchor pulling-out mechanism is connected to the convergence mechanism.The anchor pulling-out vehicle body is connected to the anchor pulling-out mechanism.By using the mine anchor pulling-out vehicle, the telescopic end of the first driving element is controlled to be elongated or shortened, the adjusting rod is driven to move, the included angle of the two clamping rods is increased or decreased, the mechanical convergence of the steel strand can be completed, the anchor ring can smoothly enter the anchor pulling-out mechanism, the anchor pulling-out mechanism can clamp and cut the anchor ring, and the applicability of the mine anchor pulling-out vehicle to the working environment is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of anchor removal vehicle technology, and more specifically, to a mining anchor removal vehicle. Background Technology

[0002] The mine anchor removal vehicle (also known as anchor removal robot or anchor removal drill) is a piece of equipment designed specifically for underground coal mines. It is mainly used for anchor removal operations on the roof and walls of fully mechanized mining faces. Its core function is to disassemble and recover support materials such as wedges, pallets, and steel strands in order to release roof pressure in a timely manner and eliminate safety hazards in the goaf.

[0003] Existing mining anchor removal vehicles use mechanical clamping to cut the anchor ring, thereby removing the anchor cable. However, due to long-term support, the outer steel strand (the part of the steel strand that extends out of the surrounding rock) will loosen. When the cutter head of the anchor removal mechanism moves to the outside of the anchor ring, the anchor removal mechanism will interfere with the loose steel strand. Manually gathering the steel strand is dangerous and very inconvenient. Summary of the Invention

[0004] The purpose of this invention is to overcome the defects in the prior art and provide a mining anchor removal vehicle that can mechanically bundle steel strands so that the cutter head of the anchor removal mechanism can move to the outside of the anchor ring and clamp the anchor ring.

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

[0006] A convergence mechanism includes a convergence assembly, which includes a base, a first drive member, an adjusting rod, and a gripper. The first drive member is mounted on the base. The middle part of the adjusting rod is connected to the telescopic end of the first drive member. The gripper includes two clamping rods rotatably connected to the base. The two ends of the adjusting rod are slidably connected to the two clamping rods respectively. The adjusting rod adjusts the included angle of the two clamping rods by sliding cooperation with the two clamping rods. An anchor release mechanism, connected to the retraction mechanism, is used to clamp the anchor ring; The anchor removal vehicle body is connected to the anchor removal mechanism and is used to drive the anchor removal mechanism and the retraction mechanism to move.

[0007] By using the mining anchor removal vehicle described in this invention, the extension or retraction of the telescopic end of the first driving component is controlled to move the adjusting rod, thereby increasing or decreasing the angle between the two clamping rods. This allows for the mechanical tightening of the steel strand, ensuring that the anchor ring can smoothly enter the anchor removal mechanism so that the anchor removal mechanism can perform the clamping operation on the anchor ring. This greatly improves the applicability of the mining anchor removal vehicle to the working environment.

[0008] Preferably, the base is provided with a first fixed shaft, and the clamping rod includes a straight rod section and an arc-shaped section. The two straight rod sections are rotatably connected to the two ends of the first fixed shaft, and the two arc-shaped sections are arranged opposite to each other. The straight rod section is provided with a sliding groove, and a sliding drive block that is rotatably connected to the adjusting rod is slidably connected in the sliding groove. With this design, the two clamping rods can form a cross structure to effectively bundle the steel strands, and the clamps can bundle steel strands of different specifications and sizes.

[0009] Preferably, the coiling mechanism further includes a position adjustment assembly, which comprises a rotation adjustment part, a linear module, and a support plate. 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 drive end of the linear module, and the base is connected to the support plate. This design helps reduce the production cost of the grippers and improves the reliability of the grippers in coiling the steel strands.

[0010] Preferably, the rotation adjustment unit includes a fixed frame, a first rotating shaft, a second driving member, a driving gear, a driven gear, and a rotating frame. The fixed frame is connected to the anchor retraction mechanism. The first rotating shaft is rotatably connected to the fixed frame. The second driving member is fixedly mounted on the fixed frame, and its rotational driving end is drivenly connected to the first rotating shaft. The driving gear is fixedly sleeved on the first rotating shaft. The second rotating shaft is rotatably connected to the fixed frame. The driven gear is fixedly sleeved on the second rotating shaft and meshes with the driving gear. The rotating frame is fixedly connected to the second rotating shaft and to the linear module. With this design, the rotation adjustment of the linear module, support plate, and convergence assembly can be achieved by the first driving member driving the first rotating shaft to rotate.

[0011] Preferably, the support plate is provided with a mounting groove that slides with the base, and a third driving component is fixedly mounted on the support plate. The telescopic end of the third driving component is fixedly connected to the base. This design facilitates better clamping effect of the grippers and effectively avoids interference between the grippers and the steel strands when the rotation adjustment unit rotates and adjusts the linear module, support plate, and clamping assembly.

[0012] Preferably, the anchor removal mechanism includes a cutter holder, a drive plate, a double-headed telescopic cylinder, a drive rod, cutter heads, and a connecting plate. The cutter holder has a through-hole for accommodating the anchor ring and steel strand. The cutter holder has two first guide slots communicating with the working slot. Two drive plates, two drive rods, and two cutter heads are provided. One end of each drive plate is rotatably connected to the two telescopic ends of the double-headed telescopic cylinder. The middle portions of each drive plate are rotatably connected to both ends of the cutter holder. The other ends of each drive plate are driven by connecting rods to the two drive rods. The two drive rods are slidably connected to the two first guide slots. The two cutter heads are fixedly installed at the adjacent ends of the two drive rods. The connecting plate is fixedly installed on the cutter holder and connected to the anchor removal vehicle body. The fixing frame is fixedly installed on the connecting plate. This design allows control of the extension and retraction of the double-headed telescopic cylinder to move the two cutter heads closer together or further apart, thus completing the cutting and clamping of the anchor ring and the resetting of the cutter heads.

[0013] Preferably, the cutter head has a V-shaped cutting edge, and the cutting tip of the cutting edge has an edge line that is inclined towards the double-headed telescopic cylinder in a direction away from the drive rod. This design helps to improve the cutting efficiency of the cutting edge.

[0014] Preferably, the anchor removal mechanism further includes a positioning block, a fourth driving component, and a spring. The cutter holder has two second guide grooves communicating with the working groove. The positioning block has a V-groove and a mounting hole for installing the spring. Two positioning blocks, two fourth driving components, and two springs are provided. The two positioning blocks are slidably connected to the two second guide grooves, and the two fourth driving components are fixedly installed on both sides of the cutter holder. One end of the spring is connected to the positioning block, and the other end is connected to the telescopic end of the fourth driving component. This design facilitates clamping and positioning of the anchor ring, ensuring the cutting position is on the symmetrical plane of the anchor ring, which is beneficial for cutting the anchor ring. Furthermore, the spring protects the positioning block and the cutting edge, reducing maintenance costs for the positioning block and the cutting head.

[0015] Preferably, the connecting plate is provided with a support surface, the centerline of the second rotating shaft is located on the plane of symmetry of the rotating frame, and the distance between the centerline of the second rotating shaft and the support surface is half the width of the rotating frame. This design helps to reduce the wear of the driving gear and the driven gear.

[0016] Preferably, the anchor removal vehicle body includes a main body and a robotic arm, with one end of the robotic arm connected to the main body and the other end connected to the connecting plate. This design allows for the adjustment of the positions of the anchor removal mechanism and the retraction mechanism by adjusting the position of the connecting plate through the robotic arm, which is beneficial for the anchor removal operation.

[0017] The beneficial effects of this invention are as follows: 1. By using the mining anchor removal vehicle described in this invention, the extension or retraction of the telescopic end of the first driving component is controlled to drive the adjusting rod to move, thereby increasing or decreasing the included angle of the two clamping rods. This can complete the mechanical gathering of the steel strand, ensuring that the anchor ring can smoothly enter the anchor removal mechanism so that the anchor removal mechanism can perform the clamping operation on the anchor ring, greatly improving the applicability of the mining anchor removal vehicle to the working environment. 2. By setting a linear module, the two clamping rods of the gripper can first form a cross structure at the locking section, and then move from the locking section to the suspension section to complete the bundling of the steel strand, thus improving the reliability of the steel strand bundling. 3. By setting two positioning blocks, the anchor ring can be accurately positioned, so that the cutting position is located on the symmetrical plane of the anchor ring, which improves the reliability of the cutter head cutting the anchor ring; 4. By designing the blade edge to be inclined, it is easier for the blade to cut into the anchor ring and to cut the weakest part of the anchor ring first, which helps to improve the cutting efficiency of the anchor ring. 5. By designing the distance between the center line of the second rotating shaft and the support surface to be half the width of the rotating frame, the support 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. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the front sectional view of the anchor cable; Figure 2 This is a schematic diagram of the overall structure of a mining anchor-removing vehicle; Figure 3 This is a schematic diagram of the first three-dimensional structure of the convergence assembly, support plate, and third drive component; Figure 4 This is a schematic diagram of a second three-dimensional structure of the convergence assembly, support plate, and third drive component; Figure 5 This is a schematic diagram of the three-dimensional structure of the base; Figure 6 This is a three-dimensional structural diagram of the clamping rod; Figure 7 This is a three-dimensional structural diagram of the sliding drive block; Figure 8 This is a schematic diagram of the first three-dimensional structure of the convergence mechanism and the anchor retraction mechanism; Figure 9This is a side view of the anchor cable, the gathering assembly, the support plate, and the third drive component; Figure 10 This is a three-dimensional structural diagram of the rotation adjustment part; Figure 11 This is a three-dimensional structural diagram of the mounting bracket; Figure 12 This is a three-dimensional structural diagram of the rotating frame; Figure 13 This is a three-dimensional structural diagram of the tool holder; Figure 14 This is a three-dimensional structural diagram of the anchor withdrawal mechanism; Figure 15 This is a top view of the anchor withdrawal mechanism; Figure 16 This is a front sectional view of the anchor withdrawal mechanism; Figure 17 This is a side sectional view of the anchor withdrawal mechanism; Figure 18 This is a schematic diagram of the three-dimensional structure of the blade; Figure 19 This is a schematic diagram of the first three-dimensional structure of the positioning block; Figure 20 This is a schematic diagram of the second type of three-dimensional structure of the positioning block; Figure 21 This is a schematic diagram of the three-dimensional structure of the connecting plate; Figure 22 This is a schematic diagram of the second three-dimensional structure of the gathering mechanism and the anchoring mechanism (one side of the rotating frame is in contact with the support surface).

[0019] In the diagram: 100, gathering mechanism; 110, base; 111, first fixed shaft; 120, first driving component; 130, adjusting rod; 140, gripper; 141, clamping rod; 1411, straight rod section; 1412, arc-shaped section; 1413, sliding groove; 1414, clearance groove; 150, sliding drive block; 151, second fixed shaft; 160, rotation adjustment part; 161, fixed frame; 1611, first through hole; 1612, second through hole; 162, first rotating shaft; 163, second driving component; 164, driving gear; 165, second rotating shaft; 166, driven gear; 167, rotating frame; 1671, third through hole; 170, linear module; 180, support plate; 181, mounting groove; 182, reference surface; 190, third driving component; 200. Anchor retraction mechanism; 210. Tool holder; 211. Working groove; 212. First guide groove; 213. Second guide groove; 220. Drive plate; 221. Connecting rod; 222. Third rotating shaft; 223. Fourth rotating shaft; 224. Fifth rotating shaft; 225. Sixth rotating shaft; 230. Double-headed telescopic cylinder; 240. Drive rod; 250. Tool head; 251. Tool edge; 260. Connecting plate; 261. Support surface; 270. Positioning block; 271. V-groove; 272. Mounting hole; 280. Fourth driving component; 290. Spring; 300. Main body of the anchor removal vehicle; 310. Machine body; 320. Robotic arm; 410. Steel strand; 411. Locking section; 412. Suspended section; 420. Anchor ring; 430. Wedge; 440. Retaining clamp; 450. Tray. Detailed Implementation

[0020] 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.

[0021] To better understand this invention, the following is combined with... Figures 1-22 A detailed description of a mining anchor removal vehicle according to the present invention is provided.

[0022] Example 1: like Figures 1-4 As shown, a mining anchor-removing vehicle includes: The convergence mechanism 100 includes a convergence assembly, which includes a base 110, a first drive member 120, an adjusting rod 130, and a gripper 140. The first drive member 120 is mounted on the base 110. The middle part of the adjusting rod 130 is connected to the telescopic end of the first drive member 120. The gripper 140 includes two gripping rods 141 rotatably connected to the base 110. The two ends of the adjusting rod 130 are slidably connected to the two gripping rods 141 respectively. The adjusting rod 130 adjusts the included angle of the two gripping rods 141 by slidingly engaging with the two gripping rods 141. An anchor removal mechanism 200, connected to the retraction mechanism 100, is used to clamp the anchor ring 420; The anchor removal vehicle body 300 is connected to the anchor removal mechanism 200 and is used to drive the anchor removal 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 wedge 430, a retaining band 440, and a tray 450. The steel strand 410 is formed by twisting multiple steel wires together according to a specific lay length and lay direction. The anchor ring 420 is provided with a conical hole. Multiple wedges 430 are provided, and multiple wedges 430 form a wedge-shaped fit with the conical hole. Multiple wedges 430 are wrapped around the outer ring of the steel strand 410. When the steel strand 410 is pulled to make the wedges 430 extend into the conical hole, the wedges 430 lock the steel strand 410 by engaging with the conical hole. The end face of the tray 450 away from the anchor ring 420 is in contact with the surrounding rock, thereby effectively increasing the contact area between the anchor cable and the surrounding rock, and thus improving the support effect. The retaining band 440 is located between the anchor ring 420 and the tray 450 and is used to ensure that the anchor cable tension is evenly distributed 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 extends or retracts, thereby driving the adjusting rod 130 to move, which in turn drives the two clamping rods 141 to rotate, thereby adjusting the included angle between the two clamping rods 141. Initially, the two clamping rods 141 are open, encircling all the loose steel strands 410. Subsequently, the first driving member 120 drives the adjusting rod 130 to move, causing the included angle between the two clamping rods 141 to decrease, thereby driving the loose steel strands... The wire 410 converges inward, achieving the gathering of the steel strand 410. When the anchor removal mechanism 200 moves towards the anchor ring 420 and part of the steel strand 410 enters the anchor removal mechanism 200, the gathering component releases the gathering of the steel strand 410. Under the guidance of the internal structure of the anchor removal mechanism 200, the steel strand 410 will no longer interfere with the anchor removal mechanism 200. As the anchor removal mechanism 200 continues to move towards the anchor ring 420, the anchor ring 420 can smoothly enter the anchor removal mechanism 200.

[0024] In this embodiment, the first driving component 120 is configured as a hydraulic cylinder to ensure the stability of the gripper 140 in winding the steel strand 410.

[0025] By using the mining anchor removal vehicle of the present invention, the extension or retraction of the telescopic end of the first driving member 120 is controlled to drive the adjusting rod 130 to move, thereby increasing or decreasing the included angle of the two clamping rods 141. This can complete the mechanical gathering of the steel strand 410, ensuring that the anchor ring 420 can smoothly enter the anchor removal mechanism 200 so that the anchor removal mechanism 200 can perform the clamping operation on the anchor ring 420, which greatly improves the applicability of the mining anchor removal vehicle to the working environment.

[0026] Example 2: As an optimization of Example 1, such as Figures 5-7As 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-shaped section 1412. The two straight rod sections 1411 are rotatably connected to the two ends of the first fixed shaft 111, and the two arc-shaped sections 1412 are arranged opposite to each other. The straight rod section 1411 is provided with a sliding groove 1413, and a sliding drive block 150 that is 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. The arc-shaped segment 1412 is used to bundle the steel strand 410. Since the two arc-shaped segments 1412 are arranged opposite to each other, the clamping claw 140 can bundle steel strands 410 of different specifications and sizes, improving the applicability of the clamping claw 140 for bundling. When the clamping claw 140 completes the bundling of the steel strand 410, the two clamping rods 141 form a cross structure, realizing the effective bundling of the steel strand 410.

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

[0029] Example 3: As an optimization of Example 2, such as Figure 3 , Figure 4 , Figure 8 and Figure 9 As shown, the convergence mechanism 100 also includes a position adjustment assembly, 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 retraction mechanism 200, the linear module 170 is connected to the rotation adjustment part 160, the support plate 180 is connected to the drive 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. Along the direction from the locking section 411 to the suspended section 412, the looseness of the steel strand 410 gradually increases. Since the maximum looseness of the suspended section 412 is uncertain, in order to ensure that the gripper 140 can gather all the steel strands 410, the gripper 140 needs to be made as large as possible. This will increase the manufacturing cost of the gripper 140, and there is still a possibility that the steel strands 410 are too loose, causing the gripper 140 to be unable to gather all the steel strands 410. By setting up a linear module 170 and a support plate 180, the linear module 170 drives the support plate 180 to move, thereby driving the convergence assembly to move, causing the gripper 140 to encircle and lock the section 411. Then, by controlling the first driving component 120 to drive the adjusting rod 130 to move, the included angle between the two grippers 141 is reduced, and the two grippers 141 form a cross structure. Afterwards, the linear module 170 drives the support plate 180 to move closer to the suspended section 412, and the convergence assembly moves synchronously with the support plate 180. During this process, under the constraint of the two grippers 141, the steel strands 410 of the suspended section 412 converge inward. Because the locking section 411 is very loose, the size of the gripper 140 can be made smaller, which helps to reduce the production cost of the gripper 140. In addition, during the process of the two grippers 141 forming a cross structure and continuing to close, there will be no situation where the two grippers 141 cannot continue to close and gather the steel strands 410 due to the steel strands 410 getting stuck at the cross point. This ensures that the gripper 140 can gather all the steel strands 410, improving the reliability of the gripper 140 in gathering the steel strands 410. Furthermore, the locking section 411 is not easy to shake, which helps the gripper 140 to effectively gather the steel strands 410. The rotation adjustment unit 160 is used to adjust the position of the straight module 170, the support plate 180 and the gathering assembly. When the suspended section 412 enters the anchor removal mechanism 200, the gathering assembly releases the steel strand 410 from the gathering. The rotation adjustment unit 160 drives the straight module 170, the support plate 180 and the gathering assembly to rotate away from the anchor ring 420, so as to prevent the gathering mechanism 100 from affecting the anchor removal mechanism 200 to move closer to the anchor ring 420.

[0031] Example 4: As an optimization of Example 3, such as Figure 8 , Figure 10 , Figure 11 and Figure 12 As shown, the rotation adjustment unit 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 retraction mechanism 200. The first rotating shaft 162 is rotatably connected to the fixed frame 161. The second driving member 163 is fixedly mounted on the fixed frame 161, and the rotation driving end of the second driving member 163 is drivenly 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 rotatably connected to the fixed frame 161. The driven gear 166 is fixedly sleeved with the second rotating shaft 165, and the driven gear 166 meshes 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 fixing frame 161 is fixedly installed on the anchor retraction mechanism 200. The axis of the first rotating shaft 162 coincides with the center line of the driving gear 164, and 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 convergence assembly to rotate, thus completing the position adjustment.

[0033] In this embodiment, the first driving component 120 is a motor, the fixing frame 161 is provided with a first through hole 1611 that rotatably engages with the first rotating shaft 162, the fixing frame 161 is provided with a second through hole 1612 that rotatably engages with the second rotating shaft 165, and the rotating frame 167 is provided with a third through hole 1671 for mounting the second rotating shaft 165.

[0034] Example 5: As an optimization of Example 4, such as Figure 3 and Figure 4 As shown, the support plate 180 is provided with a mounting groove 181 that slides with the base 110, and a third driving component 190 is fixedly installed on the support plate 180. The telescopic end of the third driving component 190 is fixedly connected to the base 110.

[0035] It should be noted that the end face of the support plate 180 away from the linear module 170 is set as the reference surface 182. When the distance between the locking section 411 and the reference surface 182 is small, or even when the locking section 411 touches the reference surface 182, the telescopic end of the third drive member 190 extends, driving the gathering assembly to move closer to the steel strand 410, so that the gripper 140 wraps around the locking section 411. Then, the included angle between the two clamping rods 141 is reduced to 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 drive member 190 is adjusted. The reference surface 182 and the two clamping rods 141 can work together to gather the steel strand 410, which is beneficial for the gripper 140 to achieve a better gathering effect. When the gripper 140 releases its grip on the steel strand 410, the telescopic end of the third drive member 190 shortens, causing the base 110 to slide along the mounting groove 181 away from the steel strand 410. Other components of the gathering assembly move synchronously with the base 110, so that the entire gathering assembly is located on the side of the reference surface 182 away from the steel strand 410. This avoids interference between the gripper 140 and the steel strand 410 when the rotation adjustment unit 160 rotates and adjusts the linear module 170, the support plate 180 and the gathering assembly, which would prevent the adjustment from being carried out. The third drive member 190 can be set as a cylinder or a hydraulic cylinder.

[0036] Example 6: As an optimization of Example 5, such as Figure 8 , Figure 13 , Figure 14 , Figure 15 , Figure 16 and Figure 17 As shown, the anchor removal mechanism 200 includes a cutter holder 210, a drive plate 220, a double-headed telescopic cylinder 230, a drive rod 240, a cutter head 250, and a connecting plate 260. The cutter holder 210 has a through-hole working groove 211 for accommodating the anchor ring 420 and the steel strand 410. The cutter holder 210 has two first guide grooves 212 communicating with the working groove 211. There are two drive plates 220, two drive rods 240, and two cutter heads 250. One end of each drive plate 220 rotates with the two telescopic ends of the double-headed telescopic cylinder 230. The two drive plates 220 are rotatably connected to the two ends of the cutter holder 210, and the other ends of the two drive plates 220 are driven to the two drive rods 240 respectively via connecting rods 221. The two drive rods 240 are slidably connected to the two first guide grooves 212 respectively. The two cutter heads 250 are fixedly installed on the ends of the two drive rods 240 that are close to each other. The connecting plate 260 is fixedly installed on the cutter holder 210 and connected to the anchor removal vehicle body 300. The fixing bracket 161 is fixedly installed on the connecting plate 260.

[0037] It should be noted that the tool holder 210 is provided with a first symmetry plane, which is perpendicular to the length direction of the double-headed telescopic cylinder 230. The two first guide grooves 212, the two drive plates 220, the two drive rods 240 and the two cutter heads 250 are all symmetrically arranged about the first symmetry plane. When part of the steel strand 410 enters the working groove 211, the gripper 140 releases the steel strand 410 from its contraction. Under the guidance of the working groove 211, the steel strand 410 will no longer interfere with the tool holder 210. When the anchor ring 420 enters the working groove 211, the two telescopic ends of the double-headed telescopic cylinder 230 extend, driving the two drive plates 220 to rotate, thereby driving the connecting rod 221 to move and push the two drive rods 240. The two drive rods 240 move along the length direction of the two first guide grooves 212 respectively. The two cutter heads 250 move synchronously with the two drive rods 240 towards each other, cutting the anchor ring 420. As the cutter head 250 penetrates deeper into the anchor ring 420, a notch is cut into the anchor ring 420, and the notch gradually increases. Under the pressure of the cutter head 250, the anchor ring 420 bulges to both sides of the notch. When the cutter head 250 penetrates the anchor ring 420 to a certain extent, under the combined action of the outward extrusion force of the internal clamping plate 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, causing the notch to expand rapidly, causing the anchor ring 420 to break and explode along the notch.

[0038] In this embodiment, four connecting rods 221 are provided, with each pair of connecting rods 221 corresponding to one drive plate 220. The two connecting rods 221 are symmetrically arranged about the corresponding drive plate 220. One end of each drive plate 220 is rotatably connected to one of the telescopic ends of the double-headed telescopic cylinder 230 through a third rotating shaft 222. The middle part of each drive plate 220 is rotatably connected to one end of the tool holder 210 through a fourth rotating shaft 223. The other end of each drive plate 220 is rotatably connected to one end of the two corresponding connecting rods 221 through a fifth rotating shaft 224. The other ends of the two connecting rods 221 are rotatably connected to one of the drive rods 240 through a 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 a force-saving lever, the driving force required for the double-headed telescopic cylinder 230 can be reduced, which is beneficial to saving energy consumption.

[0039] Example 7: As an optimization of Example 6, such as Figure 15 , Figure 16 and Figure 18 As shown, the cutter head 250 is provided with a V-shaped cutting edge 251. The cutting tip of the cutting edge 251 has an edge line, which is inclined towards the double-headed telescopic cylinder 230 in a direction away from the drive rod 240.

[0040] It should be noted that by designing the V-shaped blade 251, the notch can be expanded quickly and effectively during the cutting process of the anchor ring 420, improving the cutting efficiency of the blade 251. Furthermore, the positioning block 270 can position anchor rings 420 of different sizes and specifications, improving the applicability of the anchor removal mechanism 200. By designing the edge of the blade 251 to be inclined downward along the direction away from the drive rod 240, on the one hand, the initial contact area between the blade 251 and the anchor ring 420 can be reduced. The smaller the contact area, the greater the pressure, which is conducive to the blade 251 cutting into the anchor ring 420 and forming a notch, and the required cutting force is relatively small. On the other hand, along the direction away from the tray 450, the wall thickness of the anchor ring 420 gradually decreases. This design is conducive to cutting the thinner part of the anchor ring 420 first, thus making it easier to cut the anchor ring 420.

[0041] Example 8: As an optimization of Example 7, such as Figure 14 , Figure 15 , Figure 17 , Figure 19 and Figure 20As shown, the anchor removal mechanism 200 also includes a positioning block 270, a fourth driving member 280, and a spring 290. The tool holder 210 is provided with two second guide grooves 213 that communicate with the working groove 211. The positioning block 270 is provided with a V-groove 271 and a mounting hole 272 for installing the spring 290. There are two positioning blocks 270, two fourth driving members 280, and two springs 290. The two positioning blocks 270 are slidably connected to the two second guide grooves 213 respectively. The two fourth driving members 280 are fixedly installed on both sides of the tool holder 210 respectively. 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 tool holder 210 is provided with a second symmetry plane, which is perpendicular to the first symmetry plane. The center line of the double-headed telescopic cylinder 230 is located on the second symmetry plane. The two positioning blocks 270, the two fourth driving components 280 and the two springs 290 are all symmetrically arranged about the second symmetry plane. The edge lines of the two cutting edges 251 are all 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 towards each other, thereby pushing the two positioning blocks 270 to move towards each other. The two positioning blocks 270 position the anchor ring 420 through the V-groove 271 to ensure that the cutting position is located on the symmetrical plane of the anchor ring 420. The blade 251 cuts along the radial direction of the anchor ring 420, requiring the smallest cutting thickness, which is more conducive to cutting the anchor ring 420. Moreover, 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 cut, a small portion of the blade 251 cuts into the anchor ring 420. During this process, the portions on both sides of the notch of the anchor ring 420 bulge slightly, squeezing the positioning block 270. The squeezing force is transmitted to the spring 290, which is compressed, thus protecting the positioning block 270 and the blade 251. If the spring 290 is not provided, on the one hand, the bulging of the anchor ring 420 will squeeze the positioning block 270, increasing the wear of the positioning block 270. On the other hand, the positioning block 270 will hinder the bulging 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 cut, the telescopic ends of the two fourth driving components 280 shorten, causing the two springs 290 to move away from each other, thereby pushing the two positioning blocks 270 to move away from each other until both positioning blocks 270 are completely moved into the second guide groove 213, releasing the clamping and positioning of the anchor ring 420, and providing space for the subsequent explosion of the anchor ring 420. In the subsequent cutting process of the anchor ring 420, the notch formed by the initial cut will play a guiding role, ensuring that the edges of the two blades 251 are always located on the same symmetrical plane of the anchor ring 420.

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

[0044] Example 9: As an optimization of Example 8, such as Figure 8 and Figure 10 , Figure 21 and Figure 22 As shown, the connecting plate 260 is provided with a support 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 support surface 261 is half 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 support surface 261 is half the width of the rotating frame 167, the position of the linear module 170, the support plate 180 and the gathering assembly can be adjusted by the rotation adjustment part 160 to prevent the gathering mechanism 100 from affecting the anchor retraction mechanism 200 when it moves closer to the anchor ring 420. The second driving member 163 can be used to adjust one side of the rotating frame 167 to fit against the support surface 261. The support surface 261 supports the rotating frame 167, which can reduce the squeezing force between the driving gear 164 and the driven gear 166, and help reduce the wear of the driving gear 164 and the driven gear 166.

[0046] Example 10: As an optimization of Example 9, such as Figure 1 As shown, the anchor removal vehicle body 300 includes a body 310 and a robotic arm 320. One end of the robotic arm 320 is connected to the body 310, and the other end of the robotic arm 320 is connected to the connecting plate 260.

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

[0048] 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. A mine anchor-retrieving car characterized by, include: The gathering mechanism (100) includes a gathering assembly, which includes a base (110), a first drive member (120), an adjusting rod (130), and a gripper (140). The first drive member (120) is mounted on the base (110). The middle part of the adjusting rod (130) is connected to the telescopic end of the first drive member (120). The gripper (140) includes two clamping rods (141) rotatably connected to the base (110). The two ends of the adjusting rod (130) are slidably connected to the two clamping rods (141) respectively. The adjusting rod (130) adjusts the included angle of the two clamping rods (141) by sliding cooperation with the two clamping rods (141). An anchor release mechanism (200), connected to the retraction mechanism (100), is used to clamp the anchor ring (420); The anchor removal vehicle body (300) is connected to the anchor removal mechanism (200) and is used to drive the anchor removal mechanism (200) and the gathering mechanism (100) to move; The convergence mechanism (100) further includes a position adjustment assembly, 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 retraction mechanism (200), the linear module (170) is connected to the rotation adjustment part (160), the support plate (180) is connected to the drive end of the linear module (170), and the base (110) is connected to the support plate (180). The rotation adjustment unit (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 retraction mechanism (200). The first rotating shaft (162) is rotatably connected to the fixed frame (161). The second driving member (163) is fixedly mounted on the fixed frame (161), and the rotation driving end of the second driving member (163) is... Driven and 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 rotatably connected to the fixed frame (161), the driven gear (166) is fixedly sleeved with the second rotating shaft (165), and the driven gear (166) meshes 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); The support plate (180) is provided with an installation groove (181) that slides with the base (110). A third driving component (190) is fixedly installed on the support plate (180), and the telescopic end of the third driving component (190) is fixedly connected to the base (110).

2. A mine anchor pulling car according to claim 1, characterised in that The base (110) is provided with a first fixed shaft (111). The clamping rod (141) includes a straight rod section (1411) and an arc-shaped section (1412). The two straight rod sections (1411) are rotatably connected to the two ends of the first fixed shaft (111). The two arc-shaped sections (1412) are arranged opposite to each other. The straight rod section (1411) is provided with a sliding groove (1413). A sliding drive block (150) that is rotatably connected to the adjusting rod (130) is slidably connected in the sliding groove (1413).

3. The mine anchor pulling vehicle according to claim 1, characterized in that The anchor removal mechanism (200) includes a cutter holder (210), a drive plate (220), a double-headed telescopic cylinder (230), a drive rod (240), a cutter head (250), and a connecting plate (260). The cutter holder (210) has a through-hole working groove (211) for accommodating the anchor ring (420) and the steel strand (410). The cutter holder (210) has two first guide grooves (212) communicating with the working groove (211). There are two drive plates (220), two drive rods (240), and two cutter heads (250). One end of each of the two drive plates (220) is rotatably connected to the two telescopic ends of the double-headed telescopic cylinder (230). The middle portions of the two drive plates (220) are rotatably connected to the two ends of the cutter holder (210). The other ends of the two drive plates (220) are driven and connected to the two drive rods (240) respectively via connecting rods (221). The two drive rods (240) are slidably connected to the two first guide grooves (212). The two cutter heads (250) are fixedly installed at the ends of the two drive rods (240) that are close to each other. The connecting plate (260) is fixedly installed on the cutter holder (210). 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).

4. A mine anchor pulling car as claimed in claim 3 wherein, The cutter head (250) is provided with a V-shaped cutting edge (251), and the cutting tip of the cutting edge (251) has an edge line, which is inclined toward the double-headed telescopic cylinder (230) in a direction away from the drive rod (240).

5. A mine anchor pulling car as claimed in claim 3 wherein, The anchor removal mechanism (200) further includes a positioning block (270), a fourth driving member (280), and a spring (290). The tool holder (210) is provided with two second guide grooves (213) communicating with the working groove (211). The positioning block (270) is provided with a V-groove (271) and a mounting hole (272) for installing the spring (290). There are two of each of the positioning block (270), the fourth driving member (280), and the spring (290). The two positioning blocks (270) are slidably connected to the two second guide grooves (213) respectively. The two fourth driving members (280) are fixedly installed on both sides of the tool holder (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).

6. A mining anchor-removing vehicle according to claim 3, characterized in that, The connecting plate (260) is provided with a support 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 support surface (261) is half the width of the rotating frame (167).

7. A mining anchor-removing vehicle according to claim 3, characterized in that, The anchor removal vehicle body (300) includes a body (310) and a robotic arm (320), one end of the robotic arm (320) is connected to the body (310), and the other end of the robotic arm (320) is connected to the connecting plate (260).

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