CN214741397U - Robot hand for disassembling anchor cable lock - Google Patents

Abstract

The utility model relates to a dismantle anchor rope tool to lock machine hand, including flexible stable assembly, move back anchor and take out locking plate assembly, heighten support assembly, angle modulation steering assembly, power transmission assembly, ship type base assembly and hydraulic pressure transmission assembly, ship type base assembly includes the braced frame and the stable apron of ship type; the power transmission assembly comprises a hydraulic motor and a speed reducer; the angle modulation steering assembly comprises an angle modulation steering support plate, a rotating shaft and a steering support wheel; the height-adjusting support assembly comprises a fourth telescopic hydraulic cylinder, a fifth telescopic hydraulic cylinder and a vibration hydraulic cylinder; the telescopic stable assembly comprises a base, a shell, a first telescopic hydraulic cylinder and a concave-convex telescopic arm; the anchor withdrawing and locking plate withdrawing assembly comprises a stable framework, a U-shaped anchor supporting lock block, a top plate loosening hammer, a telescopic beam connecting block, a connecting plate and a U-shaped stable frame; the hydraulic transfer assembly includes a hydraulic pump, a valve block, and a plurality of fluid lines. The utility model discloses can fry the anchor rope end and the anchor rope end is not outer the anchor rope tool to lock mechanized dismantlement that leaks get off, safer, high-efficient.

Description

Robot hand for disassembling anchor cable lock

Technical Field

The utility model relates to a coal mine tunnel's tunnelling is strutted and is dismantled apparatus technical field, specific robot hand for dismantling anchor rope tool to lock that says so.

Background

The excavation and support of the coal mine tunnel are realized by hanging anchor rods and anchor cables on the top of the tunnel to realize active support, and are also the fundamental guarantee for realizing coal mine safety production. As shown in fig. 10 and 11, the anchor line lock 9 mainly includes a lock housing 901, a lock cylinder composed of a plurality of lock plates 902, and an anchor line 903, where one end of each lock plate 902 is provided with a slot 904, and the lock plates 902 are fastened in the lock housing 901 through the anchor line 903 to form the anchor line lock 9, so as to fix supporting materials such as wire netting and a supporting plate at the top of a roadway through the anchor line lock to complete supporting. The exposed end of the anchor cable is usually exploded to form the anchor cable with an exploded head in the advancing process of the lagging hydraulic support in the roadway in the use process of the existing anchor cable lock, and the other anchor cables all extend into the lock shell and are not exposed.

With the advancing of the coal mining of the stope face, materials tunneled at two ends of the stope face and anchor cables on a top plate of a transportation roadway are too firmly supported, so that the anchor cable lock is difficult to take out, particularly anchor cables with head explosion. Therefore, the gas concentration at the supporting material and the upper corner at the tail end of the haulage roadway is easily over-limited, and other harmful gases are easily accumulated, so that the gas alarm is easily caused, and the safety accidents such as gas explosion, harmful gas injury and the like are seriously caused.

SUMMERY OF THE UTILITY MODEL

The utility model aims at solving the not enough of above-mentioned technical problem, provide and dismantle anchor rope tool to lock machine hand, take out locking plate assembly, heighten including flexible stable assembly, moving back the anchor and support assembly, angle modulation and turn to assembly, power transmission assembly, ship type base assembly and hydraulic pressure transmission assembly. The bearing platform of this robot device is to ship type base assembly, including the braced frame and the stable apron of ship type, both ends all are equipped with the gib head about the braced frame, are convenient for articulate with device that can provide power such as scraper conveyor, drive ship type base assembly and remove. The power transmission assembly is arranged in the ship-shaped base assembly and provides power support for the angle modulation steering assembly of the device. The angle modulation steering assembly is arranged on the ship-shaped base assembly and comprises an angle modulation steering support plate, a rotating shaft and a steering support wheel. The angle modulation steering support plate is characterized in that a rotating shaft capable of rotating the angle modulation steering support plate is arranged in the middle of the angle modulation steering support plate, steering support wheels are arranged at the left end and the right end of the angle modulation steering support plate, the rotating shaft is arranged above the stabilizing cover plate and connected with the power transmission assembly, and the power transmission assembly provides power to rotate. The height-adjusting support assembly is arranged on the angle-adjusting steering assembly and used for adjusting the height of the telescopic stabilizing assembly, and comprises a fourth telescopic hydraulic cylinder, a fifth telescopic hydraulic cylinder and a vibration hydraulic cylinder. And the fourth telescopic hydraulic cylinder, the fifth telescopic hydraulic cylinder and the vibration hydraulic cylinder are all arranged on the angle modulation steering support plate. The telescopic stabilizing assembly is arranged above the heightening support assembly and comprises a base, a shell, a first telescopic hydraulic cylinder and a concave-convex telescopic arm. The base and the shell form a shell with an opening at one end and a closed end, the lower portion of the shell is connected with a fourth telescopic hydraulic cylinder and a fifth telescopic hydraulic cylinder, one end of the first telescopic hydraulic cylinder is fixed on the base, one end of the first telescopic hydraulic cylinder is connected with one end of a concave-convex telescopic arm, the other end of the concave-convex telescopic arm is provided with a connector, and the lower portion of the connector is connected with the vibration hydraulic cylinder. The working height of the telescopic stable assembly is adjusted under the combined action of the fourth telescopic hydraulic cylinder, the fifth telescopic hydraulic cylinder and the vibration hydraulic cylinder. Move back the anchor and take out locking plate assembly and establish on flexible stable assembly right side for hold tightly the anchor rope, take out the locking plate of tool to lock and then dismantle the anchor rope tool to lock, hold in the palm anchor tool to lock piece, roof pine movable hammer, flexible roof beam connecting block, connecting plate and U type steady rest including stable skeleton, U type. Stabilize the skeleton top and be equipped with the roof pine movable hammer that can become flexible anchor rope tool to lock, the upper portion right side is equipped with the U type that can support the tool to lock shell and holds in the palm anchor tool to lock piece, stabilize the skeleton left side and be equipped with the flexible beam connecting block of being connected with the connector, stabilize skeleton right side lower part and be equipped with the L type connecting lock that is equipped with vertical sliding tray and can reciprocate in the sliding tray, connecting plate one end is connected with L type connecting lock and is connected, and the other end is connected with U type steady rest, still be equipped with the flexible hydraulic cylinder of second on the connecting plate, the flexible hydraulic cylinder other end of second is fixed on stabilizing the skeleton, and under the effect of the flexible hydraulic cylinder of second, U type steady rest can be driven and reciprocate. The upper part of the U-shaped stabilizing frame is provided with an arc-shaped fixed locking plate matched with the arc-shaped movable locking plate, and the top of the U-shaped stabilizing frame is provided with an arc-shaped fixed unlocking plate. Stabilize the skeleton front side and be equipped with the flexible hydraulic cylinder of third, the flexible hydraulic cylinder of third removes card locking plate one end swing joint through linkage seat and arc, arc removes card locking plate one side and holds in the palm anchor locking tool piece swing joint with U type, and arc removes card locking plate top and is equipped with and tears locking plate with the fixed arc removal that matches of locking plate of tearing open of arc and tear the locking plate open. Under the effect of the third telescopic hydraulic cylinder, the arc-shaped movable locking plate rotates to be matched with the arc-shaped fixed locking plate to hold the exposed explosive end of the anchor cable tightly, and meanwhile, the arc-shaped movable unlocking plate and the arc-shaped fixed unlocking plate are matched and clamped in the clamping groove of the locking plate to tightly clamp the lock cylinder. The hydraulic transmission assembly comprises a hydraulic pump, a valve group and a plurality of liquid pipes, the hydraulic pump is communicated with the valve group through the liquid pipes, and the valve group is communicated with a first telescopic hydraulic cylinder, a second telescopic hydraulic cylinder, a third telescopic hydraulic cylinder, a fourth telescopic hydraulic cylinder, a fifth telescopic hydraulic cylinder and a vibration hydraulic cylinder through the plurality of liquid pipes.

Preferably, a motor-reducer supporting plate which is convenient for installing and fixing a hydraulic motor and a reducer is arranged in the ship-shaped base assembly.

Preferably, a plurality of height-adjusting hydraulic cylinder hangers are arranged below the shell and above the angle-adjusting steering support plate, a fourth telescopic hydraulic cylinder and a fifth telescopic hydraulic cylinder are connected with the shell through bolts and the height-adjusting hydraulic cylinder hangers and connected with the angle-adjusting steering support plate at the lower part, a vibration hydraulic cylinder hanger is arranged below the connector, a vibration hydraulic cylinder hanger is also arranged above the angle-adjusting steering support plate and connected with the connector through bolts and the vibration hydraulic cylinder hanger, and the lower part of the vibration hydraulic cylinder hanger is connected with the angle-adjusting steering support plate.

Preferably, the top of the stabilizing framework is also provided with a magnetic supporting plate recovery block which can recover a supporting plate for supporting the top of the roadway.

Preferably, dismantle anchor rope tool to lock manipulator still includes the counter weight control box assembly that can stabilize this device, counter weight control box assembly establishes on stabilizing the apron, including the box with be located the internal counter weight discus of box, the valves is established on the box.

The utility model has the advantages that: the utility model discloses a move back anchor and take out locking plate assembly can hold tightly anchor rope exposes the end of exploding and opening, blocks the locking plate of lock core simultaneously, under the effect of second flexible hydraulic cylinder, U type stabilizer 208 moves down and drives arc fixing clip locking plate 209 and arc fixing tear-open locking plate 211 and move down, takes out the lock core that arc fixing tear-open locking plate 211 blocked, withdraws from the tool to lock shell, takes off the support cake, avoids anchor rope to expose the end of exploding and holds in the palm the tool to lock shell and then influence and take out the lock core; the utility model discloses not only need manual control manipulator to dismantle work, do not need the operation workman to get into collecting space area and dismantle the anchor rope tool to lock, fundamentally has realized safety in production, has eliminated the accident hidden danger from the technique, has tamped safety in production's foundation.

Drawings

Fig. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a schematic structural view of the telescopic stabilizing assembly.

Fig. 3 is a structural schematic diagram of the anchor-withdrawing lock plate assembly.

Fig. 4 is a schematic structural view of a fourth telescopic hydraulic cylinder.

Fig. 5 is a schematic view of the structure of the steering gear assembly.

FIG. 6 is a schematic structural diagram of the power transmission assembly.

Fig. 7 is a schematic view of the structure of the boat form base assembly.

Fig. 8 is a schematic structural view of the hydraulic transmission assembly.

Fig. 9 is a schematic structural view of the counterweight operating box assembly.

Fig. 10 is a schematic structural view of the anchor line lock in the use state.

Fig. 11 is a schematic diagram of a disassembled anchor cable lock.

The labels in the figure are: 1. a telescopic stabilizing assembly, 101, a base, 102, a shell, 103, a first telescopic hydraulic cylinder, 104, a concave-convex telescopic arm, 105, a connector, 106, a height-adjusting hydraulic cylinder hanging lug, 107, a vibration hydraulic cylinder hanging lug, 2, an anchor-withdrawing and locking piece assembly, 201, a stabilizing framework, 202, a U-shaped anchor-supporting and locking piece, 203, a top plate loosening hammer, 204, a telescopic beam connecting block, 205, a sliding groove, 206, an L-shaped connecting lock, 207, a connecting plate, 208, a U-shaped stabilizing frame, 209, an arc-shaped fixed locking piece, 210, an arc-shaped movable locking piece, 211, an arc-shaped fixed unlocking piece, 212, an arc-shaped movable unlocking piece, 213, a second telescopic hydraulic cylinder, 214, a third telescopic hydraulic cylinder, 215, a linkage seat, 216, a magnetic supporting plate recovery block, 3, a height-adjusting supporting assembly, 301, a fourth telescopic hydraulic cylinder, 302, a fifth telescopic hydraulic cylinder, 303, a vibration hydraulic cylinder, 4, an angle-adjusting steering assembly, 401 and an angle-adjusting steering supporting plate, 402. rotating shaft, 403 steering supporting wheel, 5, power transmission assembly, 501, hydraulic motor, 502, speed reducer, 6, ship-shaped base assembly, 601, supporting framework, 602, stabilizing cover plate, 603, motor-speed reducer supporting plate, 604, hook head, 7, hydraulic transmission assembly, 701, hydraulic pump, 702, valve group, 703, liquid pipe, 8, counterweight operation box assembly, 801, box body, 802, counterweight discus, 9, anchor rope lockset, 901, lockset shell, 902, locking plate, 903, anchor rope, 904 and clamping groove.

Detailed Description

The following detailed description of the embodiments and the methods of use of the present invention will be made with reference to the accompanying drawings.

The utility model discloses a dismantle anchor rope tool to lock machine hand, as shown in fig. 1, including flexible stable assembly 1, move back the anchor and take out locking plate assembly 2, heighten and support assembly 3, angle modulation steering assembly 4, power transmission assembly 5, ship type base assembly 6, hydraulic pressure transmission assembly 7 and counter weight control box assembly 8. Ship type base assembly 6 bears as a load-bearing platform the utility model discloses each part of robot device installs power transmission assembly 5 in it, is equipped with the angle modulation on it and turns to assembly 4, and power transmission assembly 5 turns to assembly 4 with the angle modulation and is connected, turns to assembly 4 for the angle modulation and provides steering power. Set gradually on angle modulation steering assembly 4 and heighten support assembly 3, flexible stable assembly 1 right-hand member is connected and is moved back anchor and take out locking plate assembly 2, angle modulation steering assembly 4 can adjust the work angle that moves back anchor and take out locking plate assembly 2, heighten and support assembly 3 and can adjust the work height that moves back anchor and take out locking plate assembly 2, move back anchor and take out locking plate assembly 2 and can support in the below of tool to lock shell, hold the anchor rope of exploding tightly, take out the locking plate of anchor rope tool to lock, and then dismantle the anchor rope tool to lock.

As shown in fig. 7, the ship-shaped base assembly 6 includes a ship-shaped supporting frame 601 and a stable cover plate 602, the left and right ends of the supporting frame 601 are respectively provided with a hook 604, the hook 604 can be connected with power equipment under a coal mine through a steel wire rope, for example, connected with a scraper conveyor, and the whole device is driven to move forward or backward by the scraper conveyor. As shown in fig. 6, the power transmission assembly 5 includes a hydraulic motor 501 and a speed reducer 502, and a power output shaft of the hydraulic motor 501 is connected to the speed reducer 502 and then connected to the angle modulation steering assembly 4. As shown in fig. 1, a motor-reducer support plate 603 for conveniently mounting and fixing a hydraulic motor 501 and a reducer 502 is arranged in the boat-shaped base assembly 6, the hydraulic motor 501 and the reducer 502 are fixedly mounted on the motor-reducer support plate 603, and after a power output shaft of the hydraulic motor 501 is connected with the reducer 502, the power of the hydraulic motor 501 is output through the speed reduction power output shaft. As shown in fig. 5, the reclining steering assembly 4 includes a reclining steering support plate 401, a rotary shaft 402, and a steering support wheel 403. The middle part of the angle-adjusting steering support plate 401 is provided with a rotating shaft 402 which can enable the angle-adjusting steering support plate to rotate, and the left end and the right end of the angle-adjusting steering support plate are provided with steering support wheels 403. As shown in fig. 1, the rotating shaft 402 is disposed above the stabilizing cover 602, and is connected to the deceleration power output shaft of the power transmission assembly 5, and the power transmission assembly 5 drives the rotating shaft 402 to rotate, so that the entire recliner steering assembly 4 can rotate in a horizontal plane.

As shown in fig. 1, the height-adjustable support assembly 3 includes a fourth telescopic hydraulic cylinder 301, a fifth telescopic hydraulic cylinder 302 and a shock hydraulic cylinder 303, and the fourth telescopic hydraulic cylinder 301, the fifth telescopic hydraulic cylinder 302 and the shock hydraulic cylinder 303 are all disposed on the angle-adjustable steering support plate 401. The fourth telescopic hydraulic cylinder 301, the fifth telescopic hydraulic cylinder 302 and the shaking hydraulic cylinder 303 are all communicated with a hydraulic pump 701 through liquid pipes 703, the structure of the fourth telescopic hydraulic cylinder 301 is as shown in fig. 4, the fourth telescopic hydraulic cylinder 301 can be controlled to extend or shorten through a control valve of a valve group 702 after being communicated with the hydraulic pump 701, and the structural arrangement of the fifth telescopic hydraulic cylinder 302 and the shaking hydraulic cylinder 303 is similar to that of the fourth telescopic hydraulic cylinder 301. The height-adjusting support assembly 3 can respectively control the extension or the shortening of the fourth telescopic hydraulic cylinder 301, the fifth telescopic hydraulic cylinder 302 and the vibration hydraulic cylinder 303 through the valve group 702, and further control the height of the telescopic stabilizing assembly 1 arranged above the height-adjusting support assembly 3.

As shown in fig. 2, the telescopic stabilizing assembly 1 includes a base 101, a housing 102, a first telescopic hydraulic cylinder 103 and a concave-convex telescopic arm 104, wherein the base 101 and the housing 102 form a casing with an open end and a closed end. As shown in fig. 1, a plurality of height-adjusting hydraulic cylinder hangers 106 are arranged below the housing 102 and above the angle-adjusting steering support plate 401, and the housing 102 and the angle-adjusting steering support plate 401 are connected by bolts and the height-adjusting hydraulic cylinder hangers 106 through a fourth telescopic hydraulic cylinder 301 and a fifth telescopic hydraulic cylinder 302. One end of the first telescopic hydraulic cylinder 103 is fixed on the base 101, and the other end is connected with one end of the concave-convex telescopic arm 104, and the other end of the concave-convex telescopic arm 104 is provided with a connector 105. The first telescopic hydraulic cylinder 103 is communicated with the hydraulic pump 701 through a liquid pipe 703, and the extension or the shortening of the first telescopic hydraulic cylinder 103 can be controlled through the valve group 702, so that the concave-convex telescopic arm 104 drives the connector 105 to advance or retreat. As shown in fig. 1, a shock hydraulic cylinder suspension lug 107 is arranged below the connecting head 105, a shock hydraulic cylinder suspension lug 107 is also arranged above the angle-adjusting steering support plate 401, and a shock hydraulic cylinder 303 connects the connecting head 105 and the angle-adjusting steering support plate 401 through a bolt and the shock hydraulic cylinder suspension lug 107.

As shown in fig. 3, it draws locking plate assembly 2 to move back the anchor including stabilizing skeleton 201, the U type holds in the palm anchor tool to lock piece 202, roof pine hammer 203, flexible roof beam connecting block 204, connecting plate 207 and U type steady rest 208, it is equipped with roof pine hammer 203 and magnetic force layer board recovery piece 216 to stabilize skeleton 201 top, the upper portion right side is equipped with U type and holds in the palm anchor tool to lock piece 202, it is equipped with flexible roof beam connecting block 204 of being connected with connecting head 105 to stabilize skeleton 201 left side, flexible roof beam connecting block 204 is fixed with connecting head 105 accessible bolted connection, it is equipped with vertical sliding tray 205 and can connect lock 206 with the L type that reciprocates in sliding tray 205 to stabilize skeleton 201 right side lower part. One end of the connecting plate 207 is connected with the L-shaped connecting lock 206, the other end of the connecting plate is connected with the U-shaped stabilizing frame 208, a second telescopic hydraulic cylinder 213 is further arranged on the connecting plate 207, the other end of the second telescopic hydraulic cylinder 213 is fixed on the stabilizing framework 201, the second telescopic hydraulic cylinder 213 is communicated with the hydraulic pump 701 through a liquid pipe 703, the second telescopic hydraulic cylinder 213 is controlled to extend or shorten through the valve group 702, and then the connecting plate 207 is driven to descend or ascend, so that the U-shaped stabilizing frame 208 at one end of the connecting plate 207 descends or ascends. The upper part of the U-shaped stabilizing frame 208 is provided with an arc-shaped fixing locking plate 209, and the top part is provided with an arc-shaped fixing unlocking plate 211. Stabilize skeleton 201 front side and be equipped with the flexible hydraulic cylinder 214 of third, the flexible hydraulic cylinder 214 of third is through linkage 215 and arc removal card locking piece 210 one end swing joint, and arc removal card locking piece 210 one side holds in the palm anchor locking piece 202 swing joint with the U type. The third telescopic hydraulic cylinder 214 is communicated with the hydraulic pump 701 through a liquid pipe 703, and the third telescopic hydraulic cylinder 214 is controlled to extend or shorten through the valve group 702 so as to drive the linkage seat 215 to move, so that the arc-shaped movable clamping lock piece 210 rotates around the connection point of the arc-shaped movable clamping lock piece and the U-shaped anchor supporting lock block 202. The top of the arc-shaped movable locking plate 210 is provided with an arc-shaped movable locking plate 212 which is matched with the arc-shaped fixed locking plate 211 to lock the locking plate. When the anchor line lock needs to be disassembled, the top plate loosening hammer 203 is abutted against the top of the roadway, the vibration generated by controlling the extension or the shortening of the vibration hydraulic cylinder 303 is used for loosening the top of the roadway and the wire netting, the supporting plate and the anchor line lock fixed on the top of the roadway, then the U-shaped anchor supporting lock block 202 is leaned below the lock shell 901 of the anchor line lock through the extension of the first telescopic hydraulic cylinder 103, at the moment, the U-shaped stabilizing frame 208 is ascended to the highest position through the shortening of the second telescopic hydraulic cylinder 213 and is positioned below the U-shaped anchor supporting lock block 202, then the arc-shaped movable lock plate 210 is rotated through the extension of the third telescopic hydraulic cylinder 214 and is matched with the arc-shaped fixed lock plate 209 to hold the exposed and exploded anchor line 903 tightly, and simultaneously the arc-shaped movable lock plate 212 on the arc-shaped movable lock plate 210 and the arc-shaped fixed lock plate 211 at the top of the U-shaped stabilizing frame 208 are matched and clamped in the lock plate clamping groove of the lock cylinder, rethread second telescopic hydraulic cylinder 213 extension makes U type steady rest 208 move down this moment, and the U type holds in the palm anchor tool to lock piece 202 and blocks tool to lock shell 901 and move down, so the arc is fixed to be torn open locking plate 211 and is moved down along with U type steady rest 208, arc fixed card locking plate 209 is held tightly anchor rope 903 and is moved down, and then withdraw from the tool to lock shell smoothly with the locking plate that arc fixed locking plate 211 blocked and the anchor rope that arc fixed card locking plate 209 was held tightly, and then the locking plate that arc removal was torn open locking plate 212 and is blocked also can withdraw from the tool to lock shell smoothly, the magnetic force layer board at stable skeleton 201 top retrieves piece 216 can retrieve the not hard up tool to lock shell and the layer board at tunnel top through magnetic force.

As shown in fig. 8, the hydraulic transmission assembly 7 includes a hydraulic pump 701, a valve group 702, and a plurality of fluid pipes 703, and the hydraulic pump 701 communicates with the first telescopic hydraulic cylinder 103, the second telescopic hydraulic cylinder 213, the third telescopic hydraulic cylinder 214, the fourth telescopic hydraulic cylinder 301, the fifth telescopic hydraulic cylinder 302, and the vibration hydraulic cylinder 303 through the plurality of fluid pipes 703.

In order to guarantee the stability of this device at dismantlement anchor rope tool to lock in-process, the utility model discloses still stabilize and set up counter weight control box assembly 8 on the apron 602, as shown in fig. 9, counter weight control box assembly 8 includes box 801 and the counter weight discus 802 that is located box 801, and valves 702 can be established on box 801.

The utility model is arranged according to the specific structure, the ship-shaped base assembly 6 is stably placed in the installation sequence of each component, and the counterweight discus 802 is placed in the box body 801; installing a power transmission assembly 5; the angle modulation steering assembly 4 is arranged above the ship-shaped base assembly 6; mounting each hydraulic cylinder, connecting the split pins by connecting pins; the anchor-withdrawing and lock-pulling plate assembly 2 is connected with the telescopic stable assembly 1 by bolts; and connecting each hydraulic cylinder, the valve group and the hydraulic pump by using a high-pressure oil pipe, and assembling to form the anchor cable lock dismounting manipulator of the embodiment. When the normal coal mining of the coal mine stope face is propelled forward, when supporting materials and the lagging supporting anchor rope lock of the haulage roadway need to be disassembled, the manipulator of the embodiment is arranged at the construction disassembling position through power equipment under the coal mine, and the specific operation steps are as follows:

firstly, a hydraulic pump 701 of a hydraulic transmission assembly 7 is started, an operator simultaneously opens control valve groups of a fourth telescopic hydraulic cylinder 301, a fifth telescopic hydraulic cylinder 302 and a vibration hydraulic cylinder 303 of a height-adjusting support assembly 3, adjusts the height of an anchor withdrawing and locking plate assembly 2, closes the control valve groups of the fourth telescopic hydraulic cylinder 301 and the fifth telescopic hydraulic cylinder 302 when a top plate loosening hammer 203 approaches a supporting plate at the top of a roadway, and makes the top plate loosening hammer 203 vibrate the top of the roadway by controlling the control valve group of the vibration hydraulic cylinder 303, so that the supporting plate and an anchor rope lock for supporting the top of the roadway are loosened;

at the moment, opening a control valve group of the first telescopic hydraulic cylinder 103, extending the first telescopic hydraulic cylinder 103, pushing the concave-convex telescopic arm 104 to move forwards through the connecting pin and the pin hole until the U-shaped anchor supporting lock block 202 of the anchor withdrawing lock plate assembly 2 is supported below the lock shell 901 of the anchor cable lock, and closing the control valve group;

thirdly, opening a control valve group of a third telescopic hydraulic cylinder 214 to enable the arc-shaped movable cable clamping piece 210 to rotate, and to be matched with the arc-shaped fixed cable clamping piece 209 to hold the anchor cable of the blasting head tightly, and meanwhile, an arc-shaped fixed lock-removing piece 211 arranged above the arc-shaped fixed cable clamping piece 209 and an arc-shaped movable lock-removing piece 212 arranged on the arc-shaped movable cable clamping piece 210 are clamped in a lock piece clamping groove of the anchor cable lock;

fourthly, the second telescopic hydraulic cylinder 213 control valve group is opened again, the second telescopic hydraulic cylinder 213 extends to push the U-shaped stabilizing frame 208 to move downwards through the connecting pin and the hole, at the moment, the U-shaped anchor supporting locking block 202 supports the locking shell 901 of the anchor rope lock, the arc-shaped fixed unlocking plate 211 at the top of the U-shaped stabilizing frame 208 is clamped in the locking plate clamping groove of the anchor rope lock and moves downwards along with the U-shaped stabilizing frame 208, the arc-shaped fixed clamping cable piece 209 tightly holds the anchor rope to move downwards, the anchor rope and the locking plate smoothly exit, the magnetic supporting plate recovery block 216 recovers the loosened supporting plate and the locking shell at the top of the roadway through magnetic force, at the moment, the disassembling work of the anchor rope lock is completed, the hydraulic cylinder control valve groups are closed, all parts are reset, and the hydraulic pump is closed;

fifthly, according to the difference of the installation positions of the anchor cable locks in the embodiment, when the anchor cable locks at different positions need to be disassembled, the angle adjusting steering assembly 4 is driven by the power transmission assembly 5 to adjust the working angle of the device, and the next anchor cable lock is disassembled.

The existing roadway support is mainly characterized in that support materials such as wire netting and supporting plates are fixed at the top of the roadway through anchor rope locks, the structure of the existing anchor rope locks is shown in fig. 10 and fig. 11 and mainly comprises a lock shell 901, a lock cylinder and anchor ropes 903, wherein the lock cylinder and the anchor ropes 903 are composed of a plurality of locking pieces 902, the locking pieces 902 are fastened in the lock shell 901 through the anchor ropes to form the anchor rope locks, and then the wire netting and the supporting plates are fixed at the top of the roadway through the anchor rope locks to complete support. When the anchor cable lock is used, the exposed end of the anchor cable is usually exploded by other equipment passing through the roadway to form the anchor cable with an exploded head. The existing device for disassembling the anchor cable lock cannot take down the anchor cable lock with the blasting head, and the anchor cable lock without leaking the end head of the anchor cable also fails. And this embodiment can leak the anchor rope end outward and explode one side of opening and hold tightly, take out the lock core on one side, take off tool to lock shell and layer board, also can dismantle to the anchor rope tool to lock that the anchor rope end does not leak outward simultaneously, and the accessible U type holds in the palm anchor tool to lock piece 202 and holds in the palm tool to lock shell 901, and the fixed locking piece 211 card of tearing open of arc moves down the anchor rope tool to lock and dismantles down in the locking plate draw-in groove. More importantly, the manipulator of the embodiment can be operated by operators without the need of the operators to enter the goaf to disassemble the anchor cable lock, so that the safety production is fundamentally realized, the accident potential is technically eliminated, and the foundation of the safety production is tamped.

The above description is only a preferred embodiment of the present invention, and for those skilled in the art, a plurality of modifications and variations can be made without departing from the technical principle of the present invention, and these should also be regarded as the protection scope of the present invention.

The utility model discloses the spare part that uses all can purchase from the market, and dysmorphism piece all can be customized according to the description of description and drawing, and the concrete connected mode of each part does not explain all adopts conventional means such as ripe bolt, rivet, welding among the prior art, and machinery and equipment all adopt conventional model among the prior art, and equipment circuit connection adopts conventional connected mode among the prior art in addition, and the details are not repeated here, and the content that does not make detailed description in this description belongs to the prior art that technical staff in this field knows.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims (5)

1. Dismantle anchor rope tool to lock machine hand, its characterized in that: comprises a telescopic stable assembly (1), an anchor withdrawing and lock pulling plate assembly (2), a height-adjusting support assembly (3), an angle-adjusting steering assembly (4), a power transmission assembly (5), a ship-shaped base assembly (6) and a hydraulic transmission assembly (7),

the ship-shaped base assembly (6) comprises a ship-shaped supporting framework (601) and a stable cover plate (602), and hook heads (604) are arranged at the left end and the right end of the supporting framework (601);

the power transmission assembly (5) is arranged in the ship-shaped base assembly (6) and comprises a hydraulic motor (501) and a speed reducer (502), and a power output shaft of the hydraulic motor (501) is connected with the speed reducer (502) and then is connected with the angle-adjusting steering assembly (4);

the angle modulation steering assembly (4) comprises an angle modulation steering support plate (401), a rotating shaft (402) and steering support wheels (403), the rotating shaft (402) capable of rotating the angle modulation steering support plate (401) is arranged in the middle of the angle modulation steering support plate (401), the steering support wheels (403) are arranged at the left end and the right end of the angle modulation steering support plate, and the rotating shaft (402) is arranged above the stable cover plate (602) and connected with the power transmission assembly (5);

the height-adjusting support assembly (3) comprises a fourth telescopic hydraulic cylinder (301), a fifth telescopic hydraulic cylinder (302) and a vibration hydraulic cylinder (303), wherein the fourth telescopic hydraulic cylinder (301), the fifth telescopic hydraulic cylinder (302) and the vibration hydraulic cylinder (303) are all arranged on the angle-adjusting steering support plate (401);

the telescopic stabilizing assembly (1) comprises a base (101), a shell (102), a first telescopic hydraulic cylinder (103) and a concave-convex telescopic arm (104), wherein the base (101) and the shell (102) form a shell with an opening at one end and a closed end, a fourth telescopic hydraulic cylinder (301) and a fifth telescopic hydraulic cylinder (302) are connected below the shell (102), one end of the first telescopic hydraulic cylinder (103) is fixed on the base (101), one end of the first telescopic hydraulic cylinder is connected with one end of the concave-convex telescopic arm (104), a connector (105) is arranged at the other end of the concave-convex telescopic arm (104), and a vibration hydraulic cylinder (303) is connected below the connector (105);

the anchor withdrawing and locking plate assembly (2) comprises a stable framework (201), a U-shaped support anchor locking block (202), a top plate loosening hammer (203), a telescopic beam connecting block (204), a connecting plate (207) and a U-shaped stabilizing frame (208), wherein the top of the stable framework (201) is provided with the top plate loosening hammer (203), the right side of the upper part is provided with the U-shaped support anchor locking block (202), the left side of the stable framework (201) is provided with the telescopic beam connecting block (204) connected with a connecting head (105), the lower part of the right side of the stable framework (201) is provided with a vertical sliding groove (205) and an L-shaped connecting lock (206) capable of moving up and down in the sliding groove (205), one end of the connecting plate (207) is connected with the L-shaped connecting lock (206), the other end of the connecting plate is connected with the U-shaped stabilizing frame (208), the connecting plate (207) is further provided with a second telescopic hydraulic cylinder (213), and the other end of the second telescopic hydraulic cylinder (213) is fixed on the stable framework (201), an arc-shaped fixed locking plate (209) is arranged on the upper portion of the U-shaped stabilizing frame (208), an arc-shaped fixed unlocking plate (211) is arranged at the top of the U-shaped stabilizing frame (208), a third telescopic hydraulic cylinder (214) is arranged on the front side of the stabilizing framework (201), the third telescopic hydraulic cylinder (214) is movably connected with one end of an arc-shaped movable locking plate (210) through a linkage seat (215), one side of the arc-shaped movable locking plate (210) is movably connected with the U-shaped support anchor locking block (202), and an arc-shaped movable unlocking plate (212) which is matched with the arc-shaped fixed unlocking plate (211) to clamp the lock cylinder is arranged at the top of the arc-shaped movable locking plate (210);

the hydraulic transmission assembly (7) comprises a hydraulic pump (701), a valve group (702) and a plurality of liquid pipes (703), the hydraulic pump (701) is communicated with the valve group (702) through the liquid pipes (703), and the valve group (702) is communicated with a first telescopic hydraulic cylinder (103), a second telescopic hydraulic cylinder (213), a third telescopic hydraulic cylinder (214), a fourth telescopic hydraulic cylinder (301), a fifth telescopic hydraulic cylinder (302) and a vibration hydraulic cylinder (303) through the plurality of liquid pipes (703).

2. The cable lock detachment robot of claim 1, wherein: a motor-speed reducer supporting plate (603) which is convenient for installing and fixing the hydraulic motor (501) and the speed reducer (502) is arranged in the ship-shaped base assembly (6).

3. The cable lock detachment robot of claim 1, wherein: the angle modulation steering support plate structure is characterized in that a plurality of height modulation hydraulic cylinder hangers (106) are arranged below the shell (102) and above the angle modulation steering support plate (401), vibration hydraulic cylinder hangers (107) are arranged below the connecting head (105), vibration hydraulic cylinder hangers (107) are also arranged above the angle modulation steering support plate (401), a fourth telescopic hydraulic cylinder (301) and a fifth telescopic hydraulic cylinder (302) are fixed on the height modulation hydraulic cylinder hangers (106) through bolts, and the vibration hydraulic cylinder (303) is fixed on the vibration hydraulic cylinder hangers (107) through bolts.

4. The cable lock detachment robot of claim 1, wherein: the top of the stabilizing framework (201) is also provided with a magnetic supporting plate recovery block (216).

5. The cable lock detachment robot of claim 1, wherein: dismantle anchor rope tool to lock machine hand still includes counter weight control box assembly (8), counter weight control box assembly (8) are established on stabilizing apron (602), including box (801) and counter weight discus (802) that are located box (801), valves (702) are established on box (801).

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