Anchoring device and automatic construction method

Abstract

The application discloses an anchor injection device and an automatic construction method, the anchor injection device comprises a base, a first sleeve, an anchor injection part, a second sleeve, an anchor rod adapter and a hydraulic motor, the first sleeve is rotatably connected to the base, the axis of the first sleeve is arranged along a first direction, the anchor injection part is slidably connected to the base, the anchor injection part is provided with a fluid passage, the inlet of the fluid passage is adapted to communicate with the outlet of a grouting pump and the outlet of a water injection pump respectively, the outlet of the fluid passage is located in the first sleeve and communicates with the first sleeve, the second sleeve is rotatably connected to the anchor injection part, a part of the second sleeve is located in the first sleeve and is in screw transmission with the first sleeve, the anchor rod adapter is connected to one end of the first sleeve away from the second sleeve, and the hydraulic motor is connected to the base and is in transmission connection with the first sleeve. The anchor injection device does not need to replace parts, and can automatically complete drilling, grouting and pre-tightening through a control system.

Description

Technical Field

[0001] This invention belongs to the field of tunnel support technology, and particularly relates to an anchoring device and an automatic construction method. Background Technology

[0002] Rock bolt support can effectively control the deformation of surrounding rock and has been widely used in coal mines, metal mines and other fields at home and abroad. The construction process of rock bolts in related technologies mainly includes drilling, installing and mixing anchoring agent, installing trays and self-aligning ball pads, and pre-tightening the bolt tail nut. After drilling, the surrounding rock is prone to collapse under the action of mining stress. The step of manually inserting the anchoring agent into the borehole is difficult, especially when the coal and rock mass is relatively broken or the borehole wall is uneven. It takes a certain amount of time to complete the installation of the anchoring agent, which reduces the support efficiency. Drilling, installing anchoring agent and pre-tightening require the use of different tools. Disassembling the drill rod and switching between different tools also takes a long time. Moreover, the corresponding construction equipment is rock bolt drilling machine and torque wrench. Relying on manual construction, it is difficult to realize the automation of rock bolt construction. Summary of the Invention

[0003] This invention aims to at least partially solve one of the technical problems in related technologies. To this end, embodiments of this invention propose an anchoring device that requires no replacement of parts and can automatically complete drilling, grouting, and pre-tightening through a control system.

[0004] A second aspect of the present invention also proposes an automated construction method.

[0005] The anchoring device of this invention includes a base, a first sleeve, an anchoring component, a second sleeve, an anchor bolt adapter, and a hydraulic motor. The first sleeve is rotatably connected to the base, and the axis of the first sleeve is arranged along a first direction. The anchoring component is slidably connected to the base, and the anchoring component is provided with a fluid channel. The inlet of the fluid channel is adapted to communicate with the outlet of a grouting pump and the outlet of a water injection pump, respectively. The outlet of the fluid channel is located inside the first sleeve and communicates with the first sleeve. The second sleeve is rotatably connected to the anchoring component, and a portion of the second sleeve is located inside the first sleeve and is helically driven with the first sleeve. The anchor bolt adapter is connected to the end of the first sleeve away from the second sleeve. The hydraulic motor is connected to the base and is drivenly connected to the first sleeve.

[0006] The anchoring device of this invention uses a hydraulic motor to drive the first sleeve to rotate, thereby realizing the construction operations of anchor drilling and pre-tightening; it delivers fluid medium to the anchor through the fluid channel of the anchoring component, thereby realizing the anchoring operation; the second sleeve drives the anchoring component to move, avoiding interference between the anchoring component and the anchor; at the same time, during grouting, the fluid channel of the anchoring support device is stationary relative to the surrounding environment, which is suitable for conveying easily reactive and easily volatile fluid materials; the second sleeve seals the first sleeve to prevent the anchoring agent from overflowing from the first sleeve.

[0007] In some embodiments, there are multiple fluid channels, and the multiple fluid channels are not interconnected.

[0008] In some embodiments, the inner peripheral wall of the first sleeve is provided with an internal thread, which extends from the first end of the first sleeve to the second end of the first sleeve, and the outer peripheral wall of the second sleeve is provided with an external thread that matches the internal thread, which extends from the second end of the second sleeve to the first end of the second sleeve.

[0009] The automatic construction method according to a second aspect of the present invention includes:

[0010] Provide an anchoring device as described in any of the above embodiments;

[0011] Pressure signals are collected using a pressure sensor array, and displacement signals of the base are collected using a distance sensor.

[0012] Based on the pressure signal, the support cylinder is controlled to drive the support plate to move forward and stop, so as to support the tunnel wall and guide the anchor bolts.

[0013] After the support plate stops moving, the water injection pump is controlled to inject water into the anchor rod through the anchor injection component;

[0014] The hydraulic motor is controlled to drive the first sleeve to rotate forward, thereby driving the anchor bolt to rotate forward.

[0015] Based on at least one of the pressure signal and the displacement signal, the drilling cylinder is controlled to drive the base forward and stop moving, so that the forward-rotating anchor rod can advance to drill a hole.

[0016] While the anchor bolt is drilling forward, the grouting pump is controlled to draw in grout.

[0017] Based on the pressure signal, control the hydraulic motor to stop rotating so as to control the first sleeve to stop rotating forward;

[0018] Control the water injection pump to stop supplying water, and control the grouting pump to stop sucking grout;

[0019] The grouting pump is controlled to discharge grout into the anchoring component in order to anchor the anchor bolt;

[0020] After the anchor bolt is anchored, the hydraulic motor is controlled to drive the first sleeve to reverse, and the anchor bolt adapter drives the pre-tightening nut on the anchor bolt to reverse, thereby achieving the pre-tightening of the anchor bolt;

[0021] Based on the pressure signal, control the hydraulic motor to stop rotating so as to control the first sleeve to stop reversing;

[0022] After the hydraulic motor stops rotating, the drilling cylinder is controlled to drive the base to retract and stop moving according to the pressure signal, so that the anchor rod can retract.

[0023] Based on the pressure signal, the support cylinder is controlled to drive the support plate backward and stop moving, so that the support plate can retract.

[0024] The automatic construction method of this invention, by adopting the above-mentioned anchoring device, can automatically pre-tighten the anchor bolts, automatically anchor them, and actively drill using the support cylinder and drilling cylinder. Therefore, it has the advantages of good anchoring effect, high degree of automation, high efficiency of anchor bolt support operation, and low labor intensity of workers.

[0025] In some embodiments, after the base stops moving and before the anchoring component stops supplying water, the hydraulic motor is controlled to stop rotating based on a pressure signal.

[0026] In some embodiments, the pressure signal includes the feed pressure signal and retraction pressure signal of the support cylinder, the feed pressure signal and retraction pressure signal of the drilling cylinder, and the rotation pressure signal of the hydraulic motor, and the displacement signal of the base is the feed speed of the base.

[0027] In some embodiments, the pressure sensor group includes:

[0028] A first pressure sensor and a second pressure sensor are provided. The first pressure sensor is installed in one oil circuit of the support cylinder, and the second pressure sensor is installed in another oil circuit of the support cylinder, so as to monitor the feed pressure signal and the retraction pressure signal of the support cylinder.

[0029] A third pressure sensor and a fourth pressure sensor are provided, wherein the third pressure sensor is provided in one oil circuit of the drilling cylinder and the fourth pressure sensor is provided in another oil circuit of the drilling cylinder, so as to monitor the feed pressure signal and the retraction pressure signal of the drilling cylinder;

[0030] A fifth pressure sensor is installed in one of the oil lines of the hydraulic motor to monitor the rotational pressure signal of the hydraulic motor.

[0031] In some embodiments, controlling the support cylinder to drive the support plate forward and stop moving according to the pressure signal includes: monitoring and determining that the feed pressure of the support cylinder is less than a set threshold, controlling the support cylinder to drive the support plate forward, and monitoring and determining that the feed pressure of the support cylinder is greater than or equal to the set threshold, controlling the support cylinder to drive the support plate to stop moving.

[0032] The step of controlling the support cylinder to drive the support plate to move backward and stop moving according to the pressure signal includes: monitoring and determining that the retraction pressure of the support cylinder is less than a set threshold, controlling the support cylinder to drive the support plate to move backward; monitoring and determining that the retraction pressure of the support cylinder is greater than or equal to the set threshold, controlling the support cylinder to drive the support plate to stop moving.

[0033] In some embodiments, controlling the drilling cylinder to drive the base forward and stop moving based on at least one of the pressure signal and the displacement signal includes: monitoring and determining that the feed pressure of the drilling cylinder is less than a set threshold and / or monitoring and determining that the forward speed of the base is greater than or equal to a set threshold, and controlling the drilling cylinder to drive the base forward; monitoring and determining that the feed pressure of the drilling cylinder is greater than or equal to a set threshold and / or monitoring and determining that the forward speed of the base is less than a set threshold, and controlling the drilling cylinder to drive the base to stop moving.

[0034] The step of controlling the drilling cylinder to drive the base to retract and stop moving according to the pressure signal includes: monitoring and determining that the retraction pressure of the drilling cylinder is less than a set threshold, controlling the drilling cylinder to drive the base to retract; and monitoring and determining that the retraction pressure of the drilling cylinder is greater than or equal to the set threshold, controlling the drilling cylinder to drive the base to stop moving.

[0035] In some embodiments, controlling the hydraulic motor to stop rotating based on the pressure signal to control the first sleeve to stop rotating forward includes: monitoring and determining that the rotation pressure of the hydraulic motor is less than or equal to a set threshold and stabilizes for a preset time, and then controlling the hydraulic motor to stop rotating.

[0036] The step of controlling the hydraulic motor to stop rotating based on the pressure signal to control the first sleeve to stop reversing includes: monitoring and determining that the rotation pressure of the hydraulic motor is greater than or equal to a set threshold, and controlling the hydraulic motor to stop rotating forward. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the anchoring device according to an embodiment of the present invention.

[0038] Figure 2 This is a rear view of the anchoring device according to an embodiment of the present invention.

[0039] Figure 3 This is a top view of the anchoring device according to an embodiment of the present invention when the internal and external threads are fully engaged.

[0040] Figure 4 This is a cross-sectional schematic diagram of the anchoring device according to an embodiment of the present invention when the internal and external threads are fully engaged.

[0041] Figure 5 This is a top view of the anchoring device according to an embodiment of the present invention when the internal and external threads are not fully engaged.

[0042] Figure 6 This is a cross-sectional schematic diagram of the anchoring device according to an embodiment of the present invention when the internal and external threads are not fully engaged.

[0043] Figure label:

[0044] Base 1;

[0045] First sleeve 2; internal thread 21;

[0046] Anchor component 3; Fluid channel 31;

[0047] Second sleeve 4; External thread 41;

[0048] Anchor bolt adapter 5;

[0049] Hydraulic motor 6. Detailed Implementation

[0050] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0051] The anchoring device according to a first aspect of the present invention is described below with reference to the accompanying drawings.

[0052] like Figures 1-6 As shown, the anchoring device of this embodiment includes a base 1, a first sleeve 2, an anchoring component 3, a second sleeve 4, an anchor bolt adapter 5, and a hydraulic motor 6.

[0053] The first sleeve 2 is rotatably connected to the base 1, and the axis of the first sleeve 2 is along a first direction (e.g., Figure 1 The hydraulic motor 6 is connected to the base 1 and driven by the first sleeve 2 (as shown in the front-back direction). The hydraulic motor 6 drives the first sleeve 2 to rotate along its own axis. The anchor bolt adapter 5 is connected to the end of the first sleeve 2 away from the second sleeve 4 (e.g., ...). Figure 1 (As shown at the rear end). It is understood that the first sleeve 2 is used to connect with a hollow anchor rod or drill rod (not shown in the figure) for construction to achieve drilling and pre-tightening operations, for example, as... Figure 1 and Figure 4 As shown, the hollow anchor bolt can be inserted into the first sleeve 2 from its rear end. Furthermore, those skilled in the art will understand that the direction of rotation during anchor bolt drilling is opposite to the direction of rotation during pre-tightening after drilling is completed. For example, if the first sleeve 2 rotates clockwise to drive the anchor bolt during drilling, then after the anchor bolt is drilled and anchored, the first sleeve 2 rotates counterclockwise to drive the anchor bolt for pre-tightening.

[0054] Anchoring member 3 is slidably connected to base 1. Anchoring member 3 is provided with a fluid channel 31. The inlet of fluid channel 31 is adapted to communicate with the outlet of a grouting pump and the outlet of a water injection pump, respectively, allowing various fluid media to be pumped into fluid channel 31. The outlet of fluid channel 31 is located inside and communicates with the first sleeve 2, allowing fluid (e.g., water or anchoring agent) in fluid channel 31 to be transported into the first sleeve 2. For example, water is first supplied to the anchor rod to clear coal slag from the borehole, then the water supply is turned off, and anchoring agent is supplied to the anchor rod to anchor it to the surrounding rock. Optionally, the anchoring agent includes one of resin anchoring agent, organic anchoring agent, or cement anchoring agent.

[0055] The second sleeve 4 is rotatably connected to the anchoring member 3. A portion of the second sleeve 4 is located inside the first sleeve 2 and is helically driven with the first sleeve 2, so that the second sleeve 4 can drive the anchoring member 3 to move in the same direction as it moves back and forth. Furthermore, the second sleeve 4 is rotatable relative to the anchoring member 3, thus preventing the first sleeve from rotating and causing the anchoring member 3 to rotate. This eliminates the need for the fluid channel 31 to rotate with the first sleeve, making the fluid channel 31 suitable for conveying easily reactive and volatile fluid media. Therefore, the second sleeve 4 serves as a connecting element between the first sleeve and the anchoring member 3.

[0056] In this embodiment of the invention, the anchoring device drives the first sleeve 2 to rotate via a hydraulic motor 6 to perform anchor drilling and pre-tightening operations. Fluid medium is delivered to the anchor rod through the fluid channel 31 of the anchoring component 3, thereby achieving anchoring. The second sleeve 4 moves the anchoring component 3, preventing interference between the anchoring component 3 and the anchor rod. Simultaneously, during grouting, the fluid channel 31 of the anchoring support device remains stationary relative to the surrounding environment, making it suitable for conveying easily reactive and volatile fluid materials. The second sleeve 4 seals the first sleeve 2, preventing the anchoring agent from overflowing from the first sleeve 2.

[0057] In some embodiments, there are multiple fluid channels 31, which are not interconnected. It is understood that by having multiple fluid channels 31 corresponding one-to-one with multiple media sources, the multiple fluid channels 31 can provide media according to the needs of actual working conditions. For example, during drilling, one fluid channel 31 delivers water to the anchor bolt to clean up the coal slag generated during drilling; during anchoring, the water supply is shut off, and the other fluid channels 31 supply anchoring agent to the anchor bolt to anchor it to the surrounding rock.

[0058] like Figure 4 and Figure 6 As shown, in some embodiments, the inner peripheral wall of the first sleeve 2 is provided with an internal thread 21, which extends from the first end of the first sleeve 2 to the second end of the first sleeve 2. The outer peripheral wall of the second sleeve 4 is provided with an external thread 41 that matches the internal thread 21, which extends from the second end of the second sleeve 4 to the first end of the second sleeve 4.

[0059] It is understandable that when the first sleeve 2 rotates to drive the anchor bolt drilling (i.e., when the rotation direction of the first sleeve 2 is the same as the rotation direction during drilling), and the internal thread 21 on the first sleeve 2 and the external thread 41 on the second sleeve 4 are not fully engaged, the first sleeve 2 drives the second sleeve 3 to translate relative to the base 1 in the direction closer to the anchor bolt (e.g., ...). Figure 4 In the process, the second sleeve 4 moves backward relative to the base 1. After the internal thread 21 and the external thread 41 are fully engaged, the second sleeve 4 rotates synchronously with the first sleeve 2. When the rotation of the first sleeve 2 causes the nut on the anchor rod to be pre-tightened (i.e., when the rotation direction of the first sleeve 2 is the same as the rotation direction during pre-tightening), the rotation direction of the first sleeve 2 is opposite to the rotation direction when the first sleeve 2 rotates to drive the anchor rod to drill. At this time, the second sleeve 4 moves relative to the base 1 in a direction away from the anchor rod (e.g., ...). Figure 4 In the middle, the second sleeve 4 translates forward relative to the base 1.

[0060] like Figure 4 and Figure 6 As shown, optionally, the internal thread 21 is provided at the front end of the first sleeve 2 and extends to the rear end of the first sleeve 2, and the external thread 41 is provided at the rear end of the second sleeve 4 and extends to the front end of the second sleeve 4.

[0061] Furthermore, the friction between the internal thread 21 of the first sleeve 2 and the external thread 41 of the second sleeve 4 is much smaller than the friction between the second sleeve 4 and the anchor 3, so as to ensure that when the internal thread 21 and the external thread 41 are not fully engaged, the first sleeve 2 rotates and drives the second sleeve 4 to move in the front-back direction, thereby driving the anchor 3 to move in the front-back direction.

[0062] like Figure 3 and Figure 4As shown, the internal thread 21 of the first sleeve 2 and the external thread 41 of the second sleeve 4 are fully engaged. In this state:

[0063] If the first sleeve 2 rotates clockwise, the second sleeve 4 cannot move forward relative to the first sleeve 2 because the internal thread 21 and the external thread 41 are fully engaged. Therefore, the first sleeve 2 drives the second sleeve 4 to rotate synchronously, allowing for the drilling of the anchor bolt. Furthermore, since the second sleeve 4 is rotatably connected to the anchoring component 3, the rotational movement of the anchoring component 3 is prevented.

[0064] If the first sleeve 2 is reversed, since the second sleeve 4 can move backward relative to the first sleeve 2, and the frictional force of the threads between the first sleeve 2 and the second sleeve 4 is less than the frictional force of the rotation between the second sleeve 4 and the anchor 3, the first sleeve 2 drives the second sleeve 4 to move backward, thereby driving the anchor 3 to move backward, so that the anchor bolt pre-tightening operation can be performed.

[0065] Therefore, the first sleeve 2 rotates clockwise and drives the anchor rod to perform drilling operations, and the first sleeve 2 rotates counterclockwise and drives the anchor rod to perform pre-tightening operations. Furthermore, when the first sleeve 2 rotates counterclockwise, it simultaneously drives the anchoring component 3 to move backward, preventing the anchoring component 3 from interfering with the pre-tightening of the anchor rod.

[0066] Similarly, such as Figure 5 and Figure 6 As shown, the internal thread 21 of the first sleeve 2 and the external thread 41 of the second sleeve 4 are not fully engaged. At this time, the first sleeve 2 rotates forward and drives the second sleeve 4 to move forward, thereby driving the anchor 3 to move forward until the internal thread 21 and the external thread 41 are fully engaged, and the anchor 3 stops moving forward.

[0067] Optionally, a drive gear is fitted on the output shaft of the hydraulic motor 6, and a driven gear that meshes with the drive gear is fitted on the first sleeve 2. The hydraulic motor 6 drives the first sleeve 2 to rotate through the drive gear and the driven gear.

[0068] The automatic construction method according to a second aspect of the present invention is described below with reference to the accompanying drawings.

[0069] like Figures 1-6 As shown, the automatic construction method of this invention includes:

[0070] Provide an anchoring device as described in any of the above embodiments;

[0071] Pressure signals are collected using a pressure sensor array, and displacement signals of base 1 are collected using a distance sensor.

[0072] Based on the pressure signal, the support cylinder is controlled to drive the support plate to move forward and stop, so as to support the tunnel wall and guide the anchor bolts;

[0073] After the support plate stops moving, control the water injection pump to inject water into the anchor rod through the anchor injection component 3;

[0074] The hydraulic motor 6 is controlled to drive the first sleeve 2 to rotate forward, thereby driving the anchor bolt to rotate forward.

[0075] Based on at least one of the pressure signal and displacement signal, control the drilling cylinder to drive the base 1 to move forward and stop, so that the forward-rotating anchor rod can advance the drilling hole;

[0076] While drilling the anchor bolt, control the grouting pump to draw in grout;

[0077] Based on the pressure signal, control the hydraulic motor 6 to stop rotating so as to control the first sleeve 2 to stop rotating forward;

[0078] Control the water injection pump to stop supplying water, and control the grouting pump to stop sucking grout;

[0079] Control the grouting pump to discharge grout into the anchoring component 3 in order to anchor the anchor rod;

[0080] After the anchor bolt is anchored, the hydraulic motor 6 drives the first sleeve 2 to reverse, and the anchor bolt adapter 5 drives the pre-tightening nut on the anchor bolt to reverse, thereby achieving anchor bolt pre-tightening;

[0081] Based on the pressure signal, control the hydraulic motor 6 to stop rotating so as to control the first sleeve 2 to stop reversing;

[0082] After the hydraulic motor 6 stops rotating, the drilling cylinder is controlled to drive the base 1 to retract and stop moving according to the pressure signal so that the anchor rod can be retracted.

[0083] Based on the pressure signal, the control cylinder drives the support plate to move backward and stop moving, so that the support plate can retract.

[0084] The automatic construction method of this invention, by adopting the above-mentioned anchoring device, can automatically pre-tighten the anchor bolts, automatically anchor them, and actively drill using the support cylinder and drilling cylinder. Therefore, it has the advantages of good anchoring effect, high degree of automation, high efficiency of anchor bolt support operation, and low labor intensity of workers.

[0085] In some embodiments, after the base 1 stops moving and before the control anchor injection component 3 stops supplying water, the hydraulic motor 6 is controlled to stop rotating according to the pressure signal to avoid damaging the anchor rod or drill rod.

[0086] In some embodiments, the pressure signals include the feed pressure signal and retraction pressure signal of the support cylinder, the feed pressure signal and retraction pressure signal of the drilling cylinder, and the rotation pressure signal of the hydraulic motor 6, and the displacement signal of the base 1 is the feed speed of the base 1.

[0087] In some embodiments, the pressure sensor group includes:

[0088] A first pressure sensor and a second pressure sensor are provided. The first pressure sensor is located in one oil circuit of the support cylinder, and the second pressure sensor is located in another oil circuit of the support cylinder, so as to monitor the feed pressure signal and the return pressure signal of the support cylinder.

[0089] The third pressure sensor and the fourth pressure sensor are installed in one oil circuit of the drilling cylinder and the fourth pressure sensor is installed in another oil circuit of the drilling cylinder, so as to monitor the feed pressure signal and the return pressure signal of the drilling cylinder.

[0090] The fifth pressure sensor is located in one of the oil lines of the hydraulic motor 6 to monitor the rotational pressure signal of the hydraulic motor 6.

[0091] In some embodiments, controlling the support cylinder to drive the support plate forward and stop moving according to the pressure signal includes: monitoring and determining that the feed pressure of the support cylinder is less than a set threshold, controlling the support cylinder to drive the support plate forward; and monitoring and determining that the feed pressure of the support cylinder is greater than or equal to the set threshold, controlling the support cylinder to drive the support plate to stop moving. It can be understood that when the support cylinder reaches its limit position, the feed pressure of the support cylinder increases; when the feed pressure of the support cylinder is greater than or equal to the set threshold, the support cylinder is controlled to drive the support plate to stop moving, thereby achieving automatic feeding of the support cylinder.

[0092] Based on the pressure signal, controlling the support cylinder to drive the support plate to retract and stop moving includes: monitoring and determining that the retraction pressure of the support cylinder is less than a set threshold, controlling the support cylinder to drive the support plate to retract; and monitoring and determining that the retraction pressure of the support cylinder is greater than or equal to the set threshold, controlling the support cylinder to drive the support plate to stop moving. It can be understood that when the support cylinder reaches its limit position, the retraction pressure of the support cylinder increases. When the retraction pressure of the support cylinder is greater than or equal to the set threshold, it indicates that the support plate has retracted to the designated position, and controlling the support cylinder to drive the support plate to stop moving thus achieves automatic retraction of the support cylinder.

[0093] In some embodiments, controlling the drilling cylinder to drive the base 1 to move forward and stop based on at least one of a pressure signal and a displacement signal includes: monitoring and determining that the feed pressure of the drilling cylinder is less than a set threshold and / or monitoring and determining that the forward speed of the base 1 is greater than or equal to a set threshold, and controlling the drilling cylinder to drive the base 1 to move forward; monitoring and determining that the feed pressure of the drilling cylinder is greater than or equal to the set threshold and / or monitoring and determining that the forward speed of the base 1 is less than a set threshold, and controlling the drilling cylinder to drive the base 1 to stop moving. It is understood that when the drilling cylinder reaches its limit position, the feed pressure of the drilling cylinder increases, and the forward speed of the base 1 decreases. When either of these conditions is met, controlling the drilling cylinder to drive the base 1 to stop moving, thereby achieving automatic feeding of the drilling cylinder.

[0094] Based on the pressure signal, controlling the drilling cylinder to drive the base 1 to retract and stop moving includes: monitoring and determining that the retraction pressure of the drilling cylinder is less than a set threshold, and controlling the drilling cylinder to drive the base 1 to retract; monitoring and determining that the retraction pressure of the drilling cylinder is greater than or equal to the set threshold, and controlling the drilling cylinder to drive the base 1 to stop moving. It can be understood that when the drilling cylinder reaches its limit position, the retraction pressure of the drilling cylinder increases, and the retraction speed of the base 1 decreases. When either of these conditions is met, controlling the drilling cylinder to drive the base 1 to stop moving, thereby achieving automatic retraction of the drilling cylinder.

[0095] In some embodiments, controlling the hydraulic motor 6 to stop rotating to stop the first sleeve 2 from rotating forward, based on a pressure signal, includes: monitoring and determining that the rotational pressure of the hydraulic motor 6 is less than or equal to a set threshold and stabilizes for a preset time, and then controlling the hydraulic motor 6 to stop rotating. It is understood that drilling may not be complete after the drilling cylinder stops feeding. When the rotational pressure of the hydraulic motor 6 is less than or equal to the set threshold, it only indicates that drilling is basically complete, but there may still be residual sand or mud in the borehole. Only after the rotational pressure of the hydraulic motor 6 stabilizes for a preset time can it be determined that drilling is complete, thereby ensuring that drilling is finished.

[0096] Based on the pressure signal, controlling the hydraulic motor 6 to stop rotating to stop the first sleeve 2 from reversing includes: monitoring and determining that the rotational pressure of the hydraulic motor 6 is greater than or equal to a set threshold, and then controlling the hydraulic motor 6 to stop rotating forward. It is understood that after the pre-tightening work is completed, the resistance on the anchor bolt increases, and the rotational pressure of the hydraulic motor 6 also increases. When the rotational pressure of the hydraulic motor 6 is greater than or equal to the set threshold, it indicates that the pre-tightening work is complete, and the hydraulic motor 6 is controlled to stop rotating forward, thereby achieving automatic pre-tightening.

[0097] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0098] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0099] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0100] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0101] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0102] Although the above embodiments have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Any changes, modifications, substitutions and variations made to the above embodiments by those skilled in the art are within the protection scope of the present invention.

Claims

1. An anchoring device, characterized in that, include: Base; A first sleeve is rotatably connected to the base, and the axis of the first sleeve is arranged along a first direction; A hydraulic motor, which is connected to the base and is drivenly connected to the first sleeve; An anchoring component is slidably connected to the base. The anchoring component is provided with a fluid channel. The inlet of the fluid channel is adapted to communicate with the outlet of the grouting pump and the outlet of the water injection pump, respectively. The outlet of the fluid channel is located inside the first sleeve and communicates with the first sleeve. The second sleeve is rotatably connected to the anchoring member. A portion of the second sleeve is located inside the first sleeve and is helically driven with the first sleeve, so that the anchoring member can be moved in the same direction as the second sleeve moves in the front-back direction. Furthermore, the second sleeve is rotatable relative to the anchoring member, thereby preventing the anchoring member from rotating during the rotation of the first sleeve, so that the fluid channel does not need to rotate with the first sleeve. An anchor bolt adapter is connected to the end of the first sleeve away from the second sleeve.

2. The anchoring device according to claim 1, characterized in that, There are multiple fluid channels, and these multiple fluid channels are not interconnected.

3. The anchoring device according to claim 1, characterized in that, The first sleeve has an internal thread on its inner peripheral wall, which extends from the first end of the first sleeve to the second end of the first sleeve. The second sleeve has an external thread on its outer peripheral wall that matches the internal thread, which extends from the second end of the second sleeve to the first end of the second sleeve.

4. An automated construction method, characterized in that, include: Provide an anchoring device as described in any one of claims 1-3; Pressure signals are collected using a pressure sensor array, and displacement signals of the base are collected using a distance sensor. Based on the pressure signal, the support cylinder is controlled to drive the support plate to move forward and stop, so as to support the tunnel wall and guide the anchor bolts. After the support plate stops moving, the water injection pump is controlled to inject water into the anchor rod through the anchor injection component; The hydraulic motor is controlled to drive the first sleeve to rotate forward, thereby driving the anchor bolt to rotate forward. Based on at least one of the pressure signal and the displacement signal, the drilling cylinder is controlled to drive the base forward and stop moving, so that the forward-rotating anchor rod can advance to drill a hole. While the anchor bolt is drilling forward, the grouting pump is controlled to draw in grout. Based on the pressure signal, control the hydraulic motor to stop rotating so as to control the first sleeve to stop rotating forward; Control the water injection pump to stop supplying water, and control the grouting pump to stop sucking grout; The grouting pump is controlled to discharge grout into the anchoring component in order to anchor the anchor bolt; After the anchor bolt is anchored, the hydraulic motor is controlled to drive the first sleeve to reverse, and the anchor bolt adapter drives the pre-tightening nut on the anchor bolt to reverse, thereby achieving the pre-tightening of the anchor bolt; Based on the pressure signal, control the hydraulic motor to stop rotating so as to control the first sleeve to stop reversing; After the hydraulic motor stops rotating, the drilling cylinder is controlled to drive the base to retract and stop moving according to the pressure signal, so that the anchor rod can retract. Based on the pressure signal, the support cylinder is controlled to drive the support plate backward and stop moving, so that the support plate can retract.

5. The automated construction method according to claim 4, characterized in that, After the base stops moving, and before the anchoring component stops supplying water, the hydraulic motor is controlled to stop rotating based on the pressure signal.

6. The automatic construction method according to claim 4, characterized in that, The pressure signals include the feed pressure signal and retraction pressure signal of the support cylinder, the feed pressure signal and retraction pressure signal of the drilling cylinder, and the rotation pressure signal of the hydraulic motor. The displacement signal of the base is the feed speed of the base.

7. The automated construction method according to claim 6, characterized in that, The pressure sensor group includes: A first pressure sensor and a second pressure sensor are provided. The first pressure sensor is installed in one oil circuit of the support cylinder, and the second pressure sensor is installed in another oil circuit of the support cylinder, so as to monitor the feed pressure signal and the retraction pressure signal of the support cylinder. A third pressure sensor and a fourth pressure sensor are provided, wherein the third pressure sensor is provided in one oil circuit of the drilling cylinder and the fourth pressure sensor is provided in another oil circuit of the drilling cylinder, so as to monitor the feed pressure signal and the retraction pressure signal of the drilling cylinder; A fifth pressure sensor is installed in one of the oil lines of the hydraulic motor to monitor the rotational pressure signal of the hydraulic motor.

8. The automated construction method according to claim 6, characterized in that, The step of controlling the support cylinder to drive the support plate forward and stop moving according to the pressure signal includes: monitoring and determining that the feed pressure of the support cylinder is less than a set threshold, controlling the support cylinder to drive the support plate forward, and monitoring and determining that the feed pressure of the support cylinder is greater than or equal to the set threshold, controlling the support cylinder to drive the support plate to stop moving. The step of controlling the support cylinder to drive the support plate to move backward and stop moving according to the pressure signal includes: monitoring and determining that the retraction pressure of the support cylinder is less than a set threshold, controlling the support cylinder to drive the support plate to move backward; monitoring and determining that the retraction pressure of the support cylinder is greater than or equal to the set threshold, controlling the support cylinder to drive the support plate to stop moving.

9. The automated construction method according to claim 6, characterized in that, The step of controlling the drilling cylinder to drive the base forward and stop moving based on at least one of the pressure signal and the displacement signal includes: monitoring and determining that the feed pressure of the drilling cylinder is less than a set threshold and / or monitoring and determining that the forward speed of the base is greater than or equal to a set threshold, and controlling the drilling cylinder to drive the base forward; monitoring and determining that the feed pressure of the drilling cylinder is greater than or equal to a set threshold and / or monitoring and determining that the forward speed of the base is less than a set threshold, and controlling the drilling cylinder to drive the base to stop moving. The step of controlling the drilling cylinder to drive the base to retract and stop moving according to the pressure signal includes: monitoring and determining that the retraction pressure of the drilling cylinder is less than a set threshold, controlling the drilling cylinder to drive the base to retract; and monitoring and determining that the retraction pressure of the drilling cylinder is greater than or equal to the set threshold, controlling the drilling cylinder to drive the base to stop moving.

10. The automated construction method according to claim 6, characterized in that, The step of controlling the hydraulic motor to stop rotating based on the pressure signal to control the first sleeve to stop rotating forward includes: monitoring and determining that the rotation pressure of the hydraulic motor is less than or equal to a set threshold and stabilizes for a preset time, and then controlling the hydraulic motor to stop rotating. The step of controlling the hydraulic motor to stop rotating based on the pressure signal to control the first sleeve to stop reversing includes: monitoring and determining that the rotation pressure of the hydraulic motor is greater than or equal to a set threshold, and controlling the hydraulic motor to stop rotating forward.

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