An anchoring device, a drilling and anchoring integrated machine, and an anchoring trolley

Abstract

This invention discloses an anchoring device, a drilling and anchoring integrated machine, and an anchoring trolley, belonging to the field of engineering machinery technology. The drilling and anchoring integrated machine includes: a chassis; at least one rock-drilling arm, with a drilling device installed at its end; and at least one anchoring arm, with an anchoring device installed at its end. Both the rock-drilling arm and the anchoring arm are horizontally rotatably mounted on the chassis, and both can be tilted up and down and freely extended and retracted to move the end of the working arm to the working point. This invention changes the existing multi-functional arm approach by separating the drilling and anchoring functions, allowing the two working arms to independently complete their respective functions, thus improving construction efficiency. The anchoring device gains more installation and movement space, providing conditions for expanding its anchoring functions, such as adapting to more types of anchor bolts and performing more complex anchor bolt installation processes.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to an anchoring device, a drilling and anchoring integrated machine, and an anchoring trolley. Background Technology

[0002] Anchor bolt support is a reinforcement method used in surface engineering projects such as slopes and deep foundation pits, as well as in the construction of underground chambers such as tunnels and mining areas. Anchor bolts made of metal, wood, polymer, or other materials are driven into pre-drilled holes in the surface rock or the rock mass surrounding the chamber. Utilizing the special structure of the head and body of the bolt and the tail support plate (which may be omitted), or relying on bonding, the anchor bolts combine with the surrounding rock mass, altering the mechanical state of the surrounding rock and forming a unified and stable rock band around the tunnel. The combined action of the anchor bolts and the surrounding rock produces a suspension effect, a composite beam effect, and a reinforcement effect, thus achieving the purpose of support.

[0003] Existing drilling-anchoring equipment typically consists of two or three booms, with one boom end only equipped with a suspended platform for aerial work; the remaining one or two booms are equipped with an integrated drilling-anchoring device. The disadvantages of this combination include:

[0004] 1. Except for special tunnels, the radius of the tunnel arch is relatively small, and the total length of the drilling-anchoring integrated working device is generally around 7 meters. At the same time, after the anchor bolts are installed, it is necessary to ensure that the anchor bolts are basically perpendicular to the inner wall. Therefore, interference will occur when the two sets of drilling-anchoring integrated working devices are operating at the same time, which will prevent the two sets of working devices from operating at the same time and result in a certain degree of waste of time.

[0005] 2. Because the drilling and anchoring functions are integrated into one boom, the boom space is too crowded. In particular, the anchoring function can only be adapted to the installation of one or two types of anchor bolts, which reduces the applicability of the entire construction equipment. Moreover, it is usually not capable of handling the construction of anchor cables with a certain degree of toughness. During tunnel construction, different geological conditions may require the use of different types of anchor bolts. In this case, new anchoring equipment must be arranged, resulting in low construction efficiency.

[0006] In view of this, a new technical solution is needed to solve the above-mentioned technical problems. Summary of the Invention

[0007] The purpose of this invention is to provide an anchoring device, an integrated drilling and anchoring machine, and an anchoring trolley to solve the problems of space congestion, limited types of compatible anchor bolts, excessive length of the anchoring device, and reduced construction efficiency caused by integrating drilling and anchoring into a single working arm in the prior art.

[0008] To achieve the above objectives, the present invention employs the following technical means:

[0009] An anchoring device, characterized in that it includes a conveyor wheel assembly, a linear drive mechanism, and a rotary pushing assembly, wherein the conveyor wheel assembly is fixed to the linear drive mechanism, the linear drive mechanism is used to drive the rotary pushing assembly to move in a straight line, and the rotary pushing assembly is disposed on the linear drive mechanism through a translation mechanism, wherein the translation direction of the translation mechanism is not parallel to the direction of the linear movement.

[0010] As a further improvement, the linear drive mechanism includes an anchoring rail and a slider, the rotary pushing assembly is disposed on the slider via a translation mechanism, and the conveying wheel assembly is fixed to the anchoring rail.

[0011] Using the above technical solution, the anchor bolt or anchor cable can be conveyed into the anchor hole sequentially through the conveying wheel assembly and the rotating pushing assembly. First, the rotating pushing assembly moves to a clearance position via a translation mechanism (at this time, the rotating pushing assembly and the conveying wheel assembly are not aligned), clamping the end of the anchor bolt or anchor cable in the conveying wheel assembly and conveying it into the anchor hole. After the conveying wheel assembly conveys the front end of the anchor bolt to a certain depth in the anchor hole, the rotating pushing assembly moves to the working position via the translation mechanism and then continues to convey the anchor bolt into the anchor hole. Therefore, this application cleverly shortens the length of the anchoring device by conveying the anchor bolt or anchor cable in two stages. For example, if the length of the anchor bolt is 7 meters, the length of the existing anchoring device must be no less than 7 meters. However, using the above technical solution, the conveying wheel assembly first conveys 3 meters of the anchor bolt into the anchor hole, and then the rotating pushing assembly conveys the remaining 4 meters into the anchor hole. Therefore, the length of the anchoring device in this application can be set to be slightly longer than 4 meters, such as 5 meters. Furthermore, this application employs a combination of a conveyor wheel assembly and a rotating pushing assembly, which enhances the adaptability of the anchoring device. It can not only push rigid anchor bolts but also push them through continuous rotation. Simultaneously, the conveyor wheel assembly can also deliver flexible anchor cables into the anchor hole. This allows the anchoring device of this application to be adapted to the installation of various anchor bolts and anchor cables.

[0012] As a further improvement, the conveyor wheel assembly includes at least one pair of conveyor wheels that can be arranged apart from or close to each other, and when they are close to each other, they are used to clamp the anchor bolt or anchor cable and rotate to convey the anchor bolt or anchor cable forward.

[0013] As a further improvement, the conveyor wheel assembly also includes a base, two swing arms, and two linear actuators; the two swing arms are pivotally connected to the base, and the pair of conveyor wheels are respectively mounted on the two swing arms; the linear actuators are connected between the swing arms and the base, and are used to drive the swing arms to perform opening and closing movements.

[0014] As a further improvement, the rotary push assembly is capable of moving the anchor bolt or anchor cable along the anchoring track under the action of the linear drive mechanism.

[0015] As a further improvement, the rotary pushing assembly includes a torsion tube and a torsion bar nested together, as well as a first drive motor and a second drive motor. The torsion tube is sleeved onto the torsion bar. The first drive motor engages with the torsion tube to drive its rotation. The second drive motor engages with the torsion bar to drive its rotation. Preferably, the torsion bar has an axially penetrating grouting channel inside, thereby forming the torsion bar as a grouting pipe.

[0016] As a further improvement, the rotary pushing assembly also includes a nut interface and a rod head interface; the nut interface can be connected to the front end of the torque tube, and the rod head interface can be connected to the front end of the torque bar. The front end is actually closer to the anchor hole during actual construction.

[0017] As a further improvement, the rotary pushing assembly also includes a housing and a buffer spring; the tail end of the torsion tube and the tail end of the torsion bar are both housed within the housing; the buffer spring is installed between the rear end of the torsion bar and the inner wall of the housing.

[0018] As a further improvement, a sleeve is fitted onto the rear end of the torsion bar, and the two ends of the buffer spring abut against the torsion bar and the sleeve, respectively. Furthermore, the present invention also relates to a drilling and anchoring integrated machine, characterized in that it comprises:

[0019] Chassis;

[0020] At least one rock drill arm, the end of which is equipped with a drilling device;

[0021] At least one anchoring arm, the end of which is equipped with an anchoring device;

[0022] The bottom of both the rock drilling arm and the anchoring arm can be horizontally rotatably mounted on the chassis, and both the rock drilling arm and the anchoring arm can be freely tilted up and down and extended and retracted to move the end of the working arm to the working point.

[0023] This integrated drilling and anchoring machine departs from the existing multi-functional arm approach, separating the drilling and anchoring functions and assigning them to two separate working arms. Therefore, each arm can independently perform its function: the drilling arm focuses on drilling, while the anchoring arm focuses on anchor installation. The anchoring arm can perform anchoring operations simultaneously with the drilling arm, avoiding the need for sequential "drilling-anchoring" operations as in existing technologies. This invention eliminates time gaps and ensures spatial independence, thus improving construction efficiency. Furthermore, this structure, which separates the drilling and anchoring functions on two working arms, provides the anchoring device with more installation and movement space, enabling the expansion of its anchoring functions, such as accommodating more types of anchors and performing more complex anchor installation processes.

[0024] As a further improvement, it also includes a controller, several first position sensors and several second position sensors;

[0025] The first position sensor and the second position sensor are respectively installed on the rock drilling arm and the anchoring arm;

[0026] The first position sensor is used to record the hole position information of each hole and store it in the controller. The second position sensor is used to acquire the hole position information and, together with the controller, control the anchor arm to align the hole.

[0027] As a further improvement, the axial length of the anchoring device is less than the axial length of the drilling device;

[0028] The anchoring device described above also includes an anchor magazine and a moving bolt assembly;

[0029] The length of the bolt library is extendable to accommodate bolts of various sizes;

[0030] The bolt moving assembly is used to move the bolt from the bolt magazine to the conveying mechanism.

[0031] As a further improvement, the anchor bolt magazine includes a magazine frame and an external telescopic bolt;

[0032] The rack includes an inner telescopic rod and several turntables. The turntables are fixedly installed between the two ends of the inner telescopic rod, and the turntables form anchor positions for storing anchor rods.

[0033] The outer telescopic rod and the inner telescopic rod are connected at both ends respectively.

[0034] As a further improvement, the external telescopic rod includes an inner tube, a sleeve, and a locking element;

[0035] The inner tube and the outer tube are interlocked and can extend and retract relative to each other;

[0036] The locking element is located between the inner tube and the sleeve for positioning between them.

[0037] As a further improvement, the warehouse rack also includes a drop bar ring, which surrounds the perimeter of the warehouse rack and is a circular ring with a notch.

[0038] As a further improvement, the moving rod assembly includes a crossbeam, connecting rod arms connecting both ends of the crossbeam, and a driving device connecting one of the connecting rod arms. The driving device is used to drive the connecting rod arm to stand up or fall down, thereby driving the crossbeam to rise and fall. A magnetic suction device for receiving the anchor rod is fixedly installed on the crossbeam.

[0039] As a further improvement, the rock drilling arm includes a rock drilling boom and a rock drilling telescopic boom;

[0040] The rock drilling boom can be connected to the base of the rock drilling boom in a tilting motion, and the rock drilling telescopic boom can be connected to the end of the rock drilling boom in a tilting motion.

[0041] The rock drilling boom is used to raise the initial horizontal height of the rock drilling telescopic boom.

[0042] As a further improvement, the front end of the rock drilling telescopic arm is sequentially connected to a rock drilling forearm and a swing seat.

[0043] The swing seat is connected to the rock-drilling arm via a vertical pivot, and the drilling device is connected to the swing seat via a horizontal pivot.

[0044] As a further improvement, the drilling device includes a drill and a track, the drill being movable back and forth along the track;

[0045] The working surface of the track faces the side of the drilling and anchoring machine.

[0046] As a further improvement, the anchoring arm includes an anchoring telescopic arm, which is vertically and tiltably connected to the base of the anchoring arm; or

[0047] The anchoring arm includes an anchoring boom and an anchoring telescopic boom. The anchoring boom is connected to the base of the anchoring arm in a tilting motion, and the anchoring telescopic boom is connected to the end of the anchoring boom in a tilting motion. The anchoring boom is used to raise the initial horizontal height of the anchoring telescopic boom.

[0048] As a further improvement, the front end of the anchoring telescopic boom is sequentially connected to an anchoring shank and a working platform.

[0049] The working platform is rotatably mounted on the end of the anchoring arm, and the anchoring device is connected to one side of the working platform via a horizontal pivot.

[0050] Furthermore, the present invention also relates to an anchoring trolley, comprising: a chassis and at least one anchoring arm, wherein an anchoring device is mounted at the end of the anchoring arm; characterized in that,

[0051] The end of the anchoring arm is also equipped with a working platform.

[0052] Preferably, the anchoring device is rotatably mounted on the outside of the working platform; or both the anchoring device and the working platform are rotatably mounted on the end of the anchoring arm.

[0053] By adopting the above technical solution, the working platform is set at the end of the anchoring arm, so that it is naturally close enough to the anchoring device and the anchor hole being processed, which facilitates workers to perform auxiliary operations for drilling and anchor installation, as well as troubleshooting and repairing related faults.

[0054] As a further improvement, the bottom of the anchoring arm can be horizontally rotatably mounted on the chassis, and the anchoring arm can be tilted up and down and freely extended and retracted to move the end of the anchoring arm to the working point.

[0055] As a further improvement, the working platform is also equipped with a grouting mechanism, which includes a grout storage and mixing tank and a grouting pump; the grouting pump is connected to the anchoring device through a pipeline.

[0056] As a further improvement, the anchoring arm includes an anchoring telescopic arm, which is vertically and tiltably connected to the base of the anchoring arm; or

[0057] The anchoring arm includes an anchoring boom and an anchoring telescopic boom. The anchoring boom is connected to the base of the anchoring arm in a tilting motion, and the anchoring telescopic boom is connected to the end of the anchoring boom in a tilting motion. The anchoring boom is used to raise the initial horizontal height of the anchoring telescopic boom.

[0058] As a further improvement, the end of the anchoring telescopic boom is sequentially connected to an anchoring shank and a working platform.

[0059] The working platform is rotatably mounted on the end of the anchoring arm, and the anchoring device is connected to one side of the working platform via a horizontal pivot. Attached Figure Description

[0060] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0061] Figure 1A schematic diagram showing the state of the drilling and anchoring integrated machine of the present invention inside a tunnel is shown;

[0062] Figure 2 A perspective view of the drilling and anchoring integrated machine of the present invention is shown;

[0063] Figure 3 A perspective view of the drilling and anchoring integrated machine of the present invention is shown from another angle;

[0064] Figure 4 A perspective view of the rock drilling arm of the drilling and anchoring integrated machine of the present invention is shown;

[0065] Figure 5 A perspective view of the drilling device of the integrated drilling and anchoring machine of the present invention is shown;

[0066] Figure 6 A perspective view of the anchoring arm of the drilling and anchoring integrated machine of the present invention is shown;

[0067] Figure 7 A perspective view of the anchoring device of the drilling and anchoring integrated machine of the present invention is shown;

[0068] Figure 8 A perspective view of the conveyor wheel assembly of the drilling and anchoring integrated machine of the present invention is shown;

[0069] Figure 9 A state diagram (erected state) of the rod-moving assembly of the drilling and anchoring integrated machine of the present invention is shown;

[0070] Figure 10 A schematic diagram of the bolt magazine extension and retraction state of the drilling and anchoring integrated machine of the present invention is shown;

[0071] Figure 11 A cross-sectional view of the external telescopic rod of the drilling and anchoring integrated machine of the present invention is shown;

[0072] Figure 12 A cross-sectional view of the push rod assembly of the drilling and anchoring integrated machine of the present invention is shown;

[0073] Figure 13 A schematic diagram of the push rod assembly of the drilling and anchoring integrated machine of the present invention in a lateral movement state is shown.

[0074] Figure 14 An assembly diagram of the working platform and grouting mechanism of the drilling and anchoring integrated machine of the present invention is shown;

[0075] Figure 15 The diagram shows the control function modules of the two working arms of the drilling and anchoring integrated machine of the present invention.

[0076] Explanation of key component symbols:

[0077] Chassis 1;

[0078] Rock drilling arm-2; Drilling device-21; Drilling rig-22; Track-23; Rock drilling turntable-24; Rock drilling boom-25; Connecting seat-251; Connecting rod-252; Rock drilling telescopic arm-26; Telescopic pitch cylinder-261; Boom drive cylinder-27; Rock drilling forearm-28; Swing seat-29; Vertical pivot-211; Horizontal pivot-212;

[0079] Anchor arm-3; Second turntable-31; Anchor telescopic arm-32; Anchor drive cylinder-33; Anchor slender arm-34; Anchor device-35; Anchor bolt magazine-37; Magazine frame-371; Outer telescopic rod-372; Inner tube-3721; Sleeve-3722; Locking component-3723; Guide slider-3724; Inner telescopic rod-373; Turntable-374; Drop ring-375; Moving rod assembly-38; Crossbeam-381; Connecting arm-382; Drive device-383; Magnetic suction component-384; Conveyor Component-39; Anchoring rail-391; Conveyor wheel assembly-392; Conveyor wheel-3921; Base-3922; Swing arm-3923; Linear actuator-3924; Drive motor-3925; Guide plate-3926; Rotary push assembly-393; Torque tube-3941; Torque bar-3942; First drive motor-3943; Second drive motor-3944; Nut interface-3945; Rod head interface-3946; Housing-395; Buffer spring-396; Sleeve-397;

[0080] Work platform-4; base plate-41; railing-42; canopy-43; footboard-44; guardrail-45;

[0081] Grouting mechanism -5. Detailed Implementation

[0082] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0083] Furthermore, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other. Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout.

[0084] Example

[0085] Please see Figure 1-3 This embodiment provides a drilling and anchoring integrated machine, including a chassis 1, a rock drilling arm 2 and two anchoring arms 3.

[0086] Please see Figure 4 and Figure 5 Specifically, the base of the rock drilling arm 2 is set on the center line of the chassis 1, and the bases of the two anchor arms 3 are located on both sides of the rock drilling arm 2, and are set slightly behind.

[0087] In actual use, this drilling pile anchor integrated machine is operated by remote control, and the operator stands on the ground inside the tunnel.

[0088] The chassis 1 can be wheeled, tracked or rail-mounted depending on the specific working conditions. This invention does not limit this. For example, this embodiment uses a wheeled chassis 1.

[0089] A drilling device 21 is installed at the end of the rock drilling arm 2. This drilling device 21 is used to drill holes in the rock wall at preset positions. The drilling device 21 generally includes a drill rig 22 and a track 23. During operation, the drill rig 22 pushes the drill rod forward along the track 23 to complete the drilling operation. After drilling is completed, the drill rig 22 returns to its original position. Of course, the drilling device 21 must also include other structures or connections such as drive, transmission, and control. The drilling device 21 of this invention adopts existing general technology, which will not be described in detail here.

[0090] Specifically, the present invention optimizes the installation orientation of the drilling device 21 by setting the working surface of the track 23 facing one side of the equipment. The working surface of the track 23 is the side on which the drilling rig 22 is mounted. This setting facilitates the operator's real-time observation of the working status of the drilling rig 22. Since the operator usually stands on one side of the equipment when operating remotely, the above setting allows the operator to easily see the working status of the drilling rig 22.

[0091] In this embodiment, the rock drilling arm 2 includes a rock drilling turntable 24, a rock drilling boom 25, and a rock drilling telescopic arm 26.

[0092] The rock drilling turntable 24, which is the base of the rock drilling arm 2, is horizontally rotatable and mounted on the chassis 1. The rock drilling arm 25 is connected to the rock drilling turntable 24 in a tilting motion. Specifically, the rock drilling arm 25 includes two connecting seats 251 and four connecting rods 252 connected between the two connecting seats 251. The connecting seats 251 and the connecting rods 252 together form a four-bar linkage structure, which is driven by the arm drive cylinder 27 to make the arm tilt up and down relative to the chassis 1.

[0093] The rock drilling telescopic boom 26 is vertically and horizontally connected to the end of the rock drilling main boom 25. Specifically, the rear end of the rock drilling telescopic boom 26 is connected to a connecting seat 251 on the rock drilling main boom 25. The rock drilling telescopic boom 26 has a multi-stage sleeve structure, which is existing technology and will not be described in detail here. The rock drilling main boom 25 is used to raise the initial horizontal height of the rock drilling telescopic boom 26. Of course, the rock drilling telescopic boom 26 achieves vertical and horizontal movement through a telescopic pitch cylinder 261.

[0094] The advantage of setting the rock drilling boom 25 in this embodiment is that when facing a three-step construction scenario in a tunnel, this working boom with a boom can easily cross the steps and deliver the end to the working point, while the working boom without a boom may be blocked by the steps. Therefore, this application can improve applicability and convenience.

[0095] In this embodiment, the front end of the rock drilling telescopic arm 26 is sequentially connected to the rock drilling forearm 28 and the swing seat 29.

[0096] Specifically, the rock drilling arm 28 is a U-shaped component with its opening facing forward. The upper rear end of the U-shaped component is horizontally pivotally connected to the end of the rock drilling telescopic arm 26, allowing the rock drilling arm 28 to swing up and down around the pivot. A hydraulic cylinder (not shown) connects the rock drilling arm 28 and the rock drilling telescopic arm 26, used to drive the rock drilling arm 28 to pitch up and down. It should be noted that a sensor (not shown) is mounted on the rock drilling arm 28. This sensor is used to detect the levelness of the rock drilling arm 28 in real time and transmits the detection signal to the controller, which in turn controls the hydraulic cylinder to return the rock drilling arm 28 to a horizontal position. This setting ensures that the rock drilling arm 28 can always maintain a horizontal state as it moves with the rock drilling telescopic arm 26.

[0097] The swing seat 29 is connected to the rock-drilling arm 28 via a vertical pivot 211, allowing the swing seat 29 to swing horizontally relative to the rock-drilling arm 28. The middle part of the drilling device 21 is connected to the front end of the swing seat 29 via a horizontal pivot 212, allowing the drilling device 21 to rotate 360° relative to the swing seat 29. By setting the swing seat 29, the horizontal pivot 212 can always remain parallel to the tunnel's main axis (the tunnel's extension axis) before drilling position adjustments, thus facilitating quick and easy control of the drilling device 21's vertical working face and improving operational efficiency.

[0098] It should be noted that both the vertical pivot 211 and the horizontal pivot 212 mentioned above are equipped with their own drives, such as motors or hydraulic motors, thus enabling rotation. This is existing technology and will not be described in detail in this embodiment.

[0099] At this point, the drilling device 21 can be flexibly moved to the working point to perform drilling operations under the drive of the rock drilling arm 2. Of course, in some other embodiments, the rock drilling arm 2 may only include a telescopic arm, but it will not be so easy to handle when facing a three-step construction scenario.

[0100] Please see Figure 6-13 In this embodiment, the anchoring arm 3 includes a second turntable 31 and an anchoring telescopic arm 32. The second turntable 31 is the base of the anchoring arm 3, and the anchoring telescopic arm 32 is also a multi-stage sleeve structure, which will not be described in detail here. The rear end of the anchoring telescopic arm 32 is pivotally connected to the second turntable 31, and an anchoring drive cylinder 33 is provided between the two. The anchoring drive cylinder 33 is used to drive the anchoring telescopic arm 32 to tilt up and down relative to the chassis 1.

[0101] Furthermore, the front end of the anchoring telescopic boom 32 is sequentially connected to an anchoring arm 34 and a working platform 4. The working platform 4 is horizontally rotatable and mounted on the end of the anchoring arm 34. The rotation angle of the working platform 4 is adjustable and can be positioned at any angle. An anchoring device 35 is provided on the outer side of the working platform 4; the anchoring device 35 is the assembly used to complete the anchor bolt installation.

[0102] Specifically, the anchoring arm 34 is L-shaped, with its rear end horizontally pivoted to the front end of the anchoring telescopic arm 32. A drive cylinder (not shown) is installed between the anchoring arm 34 and the anchoring telescopic arm 32. A sensor (not shown) is mounted on the anchoring arm 34 to cooperate with the controller to keep the front end of the anchoring arm 34 horizontal during pitching. The coordinated mechanism of the sensor and the drive cylinder ensures that the working platform 4 remains horizontal as the anchoring telescopic arm 32 moves. At the same time, it also ensures that the horizontal pivot 212 of the anchoring device 35 remains horizontal, simplifying the initial posture of the anchoring device 35 and facilitating posture adjustment.

[0103] It should be noted that in other embodiments, the anchoring arm 3 may also include a main arm, just like the rock drilling arm 2, and this invention does not limit this. In this embodiment, the combination of the rock drilling arm 2 and the anchoring arm 3 is undoubtedly the simplest, lowest-cost, and most suitable combination for anchoring support.

[0104] In this embodiment, the axial length of the drilling device 21 is approximately 7 meters, and the axial length of the anchoring device 35 is approximately 4 meters. Setting the axial length of the anchoring device 35 to be less than that of the drilling device 21 allows the entire machine to move more agilely within the limited space of the tunnel, avoiding interference between the two working arms. Ideally, the drilling device 21 and the two anchoring devices 35 can work simultaneously, greatly improving construction efficiency. Because the overall length of the existing drilling and anchoring device is relatively long, the drilling and anchoring devices on the two telescopic arms cannot work simultaneously.

[0105] This invention departs from the existing multi-functional arm approach, separating the drilling and anchoring functions and assigning them to two separate working arms. Therefore, the two working arms can independently complete their respective functions: the drilling arm 2 focuses on drilling, while the anchoring arm 3 focuses on anchor installation. While the drilling arm 2 is drilling, the anchoring arm 3 can perform anchoring operations, avoiding the need for "drilling-anchoring" to be completed sequentially as in existing technologies. This invention eliminates time gaps and ensures spatial independence, thus improving construction efficiency. This structure, which separates the drilling and anchoring functions on two working arms, allows the anchoring device 35 more installation and movement space, providing conditions for expanding its anchoring functions, such as adapting to more types of anchors and performing more complex anchor installation processes.

[0106] Since the drilling and anchoring functions of this invention are separated, one problem that this invention must solve is: how to enable the anchoring arm 3 to find the position and orientation of the hole and complete the installation of the anchor rod.

[0107] Please see Figure 15 In one embodiment, the invention further includes a controller, a plurality of first position sensors, and a plurality of second position sensors. The controller may be integrated into the vehicle control system or a distributed controller. The first and second position sensors are respectively mounted on the rock drilling arm 2 and the anchoring arm 3. Specifically, the sensors are mounted on the joints and key components of the working arm, and are used to record the working arm's rotation angle, pitch angle, extension length, and lateral swing angle, etc.; the first sensors are used to record the hole position information for each hole, including the hole's location and orientation, and these information are numbered and stored in the controller.

[0108] The second position sensor is used to acquire the hole position information and, together with the controller, control the anchor arm 3 to align and form a hole, and complete the installation of anchor rods one by one in a preset order.

[0109] In this embodiment, the anchoring device 35 includes an anchor magazine 37, a moving bolt assembly 38, and a conveying mechanism 39.

[0110] The length of the bolt magazine 37 is extendable to accommodate bolts of various sizes. Specifically, the bolt magazine 37 includes a magazine frame 371 and an external telescopic bolt 372.

[0111] The shelving unit 371 includes an inner telescopic rod 373 and several turntables 374. The turntables 374 are fixedly installed between the two ends of the inner telescopic rod 373, and the turntables 374 form anchor positions for storing anchor bolts. Specifically, the inner telescopic rod 373 has a two-stage sleeve structure that can freely extend or shorten. The turntables 374 are fixed at intervals on the inner telescopic rod 373. Each turntable 374 has multiple notches around its perimeter. The turntables 374 are arranged in parallel, and the notches are aligned front to back to form anchor positions for storing anchor bolts.

[0112] The outer telescopic rod 372 and the inner telescopic rod 373 are connected at both ends. Therefore, when adjusting the length of the storage rack 371, only the outer telescopic rod 372 needs to be adjusted, while the inner telescopic rod 373 will extend and retract synchronously, thus completing the adjustment of the length of the storage rack 371. Because the storage rack 371 in this embodiment can extend and shorten, it can accommodate almost all lengths of anchor bolts available on the market, thereby ensuring stable storage of the anchor bolts.

[0113] Specifically, one end of the rack 371 is also equipped with a drive device (not shown in the figure) to drive the inner telescopic rod 373 to rotate around its axis, thereby driving the anchor rod on it to rotate.

[0114] More specifically, the rack 371 also includes a drop bar ring 375, which surrounds the rack 371. The drop bar ring 375 is a circular ring with a notch. The notch faces downward. When the inner telescopic rod 373 rotates and drives one of the anchor rods to face the notch, the anchor rod tends to fall downward under the action of gravity.

[0115] In this embodiment, the external telescopic rod 372 includes an inner tube 3721, a sleeve 3722, and a locking member 3723. The inner tube 3721 and the sleeve 3722 are sleeved together and can extend and retract relative to each other. The locking member 3723 is disposed between the inner tube 3721 and the sleeve 3722 for positioning between them. The locking member 3723 is a commonly used component for adjusting the tightness between pipe fittings, and will not be described in detail in this embodiment.

[0116] Please see Figure 11 As a preferred embodiment, the outer telescopic rod 372 is also equipped with a guide slider 3724 inside, which is used to make the relative sliding between the sleeve 3722 and the inner tube 3721 smoother. It should be noted that if the inner tube 3721 and the sleeve 3722 themselves have high precision, smooth extension and retraction can be achieved without the guide slider 3724.

[0117] In this embodiment, the anchor rod moving assembly 38 is used to move the anchor rod from the anchor rod magazine 37 to the conveying mechanism 39. Specifically, it includes a crossbeam 381, connecting arms 382 connecting both ends of the crossbeam 381, and a driving device 383 connecting one of the connecting arms 382. The driving device 383 is used to drive the connecting arm 382 to stand up or fall down, thereby causing the crossbeam 381 to rise and fall. A magnetic attractor 384 for receiving the anchor rod is fixedly installed on the crossbeam 381. When the crossbeam 381 is upright, it is located directly below the notch of the anchor rod drop ring 375. When one anchor rod falls from the magazine 371, it is attracted by the magnetic attractor 384 and stably falls onto the crossbeam 381. Two magnetic attractors 384 are provided, respectively installed at both ends of the crossbeam 381. Each magnetic attractor 384 includes several L-shaped components arranged side-by-side, and each component is equipped with a magnet.

[0118] In this embodiment, the conveying mechanism 39 includes an anchoring track 391, a conveying wheel assembly 392, and a rotating pushing assembly 393.

[0119] The anchoring track 391 is the base of the conveying mechanism 39. The conveying wheel assembly 392 and the rotary pushing assembly 393 are respectively installed at the front end and the rear end of the anchoring track 391. A slider (not shown) is provided on the anchoring track 391. The anchoring track 391 and the slider together constitute a linear drive mechanism. The rotary pushing assembly 393 is set on the slider through a translation mechanism (not shown).

[0120] Specifically, the conveyor wheel assembly 392 includes a pair of conveyor wheels 3921, which can be arranged far apart or close together. When they are close together, they are used to clamp the anchor bolt and rotate to convey the anchor bolt forward.

[0121] More specifically, the conveyor wheel assembly 392 also includes a base 3922, two swing arms 3923, and two linear actuators 3924. The base 3922 is fixedly connected to the front end of the anchoring rail 391. The two swing arms 3923 are pivotally connected to the front ends of the base 3922, and a pair of conveyor wheels 3921 are respectively mounted on the tops of the two swing arms 3923. The linear actuators 3924 are connected between the swing arms 3923 and the base 3922 to drive the swing arms 3923 to perform opening and closing movements. The conveyor wheels 3921 are also connected to a hydraulic motor 3925 to drive the conveyor wheels 3921 to rotate. Of course, in some other embodiments, the drive for rotating the conveyor wheels 3921 can also be a motor or the like. Preferably, in order to facilitate more accurate and smooth clamping of the anchor rod between the wheel edges of the two conveyor wheels 3921, a guide plate 3926 can also be provided. The guide plate 3926 is fixed on one of the swing arm 3923 conveyor wheels and has a horizontal slot. The horizontal slot is at the same height as the wheel edge of the conveyor wheel 3921. When the two conveyor wheels 3921 come together and clamp, the horizontal slot of the guide plate 3926 guides the anchor rod to smoothly enter between the two conveyor wheels 3921, ensuring accurate and smooth clamping.

[0122] The working process of the conveyor wheel assembly 392 is as follows:

[0123] When the two swing arms 3923 approach each other, the two conveying wheels 3921 also move closer together; the wheel edges of the conveying wheels 3921 are set to be concave inward, and the wheel edges of the two conveying wheels 3921 form a position to clamp the anchor rod. Under the action of the hydraulic motor 3925, the conveying wheels 3921 rotate, thereby achieving the purpose of clamping the anchor rod while driving the anchor rod forward.

[0124] It is worth mentioning that the conveying structure of the aforementioned conveying wheel assembly 392 can not only convey rigid anchor bolts, but also convey anchor cables, thereby increasing the range of anchor bolts that the present invention can be adapted to.

[0125] After the conveying wheel assembly 392 conveys the front end of the anchor rod to a certain depth in the anchor hole, the rotating pushing assembly 393 then continues to convey the anchor rod into the hole.

[0126] In this embodiment, the rotary pushing component 393 can push the anchor bolt forward under the action of the linear drive mechanism. Specifically, the linear drive mechanism includes structures such as a slider and a lead screw and nut pair, which can stably achieve the purpose of moving the rotary pushing component 393 back and forth along the anchor mounting track 391. Of course, in other embodiments, chains, conveyor belts, hydraulic cylinders, etc. can also be used to achieve this, and the present invention is not limited to this. In addition, the bolt moving component 38 is not limited to the magnetic attraction method in the above embodiment. For example, a robotic arm can be set to take the anchor bolt from the anchor bolt magazine 37 and transfer it to the conveying mechanism 39.

[0127] Specifically, the rotary pushing assembly 393 includes a torsion tube 3941 and a torsion bar 3942 nested together. Both the torsion tube 3941 and the torsion bar 3942 have transmission teeth on their rear outer walls. The rotary pushing assembly 393 also includes a first drive motor 3943 and a second drive motor 3944. The first drive motor 3943 is engaged with the rear end of the torsion tube 3941 to drive the torsion tube 3941 to rotate; the second drive motor 3944 is engaged with the rear end of the torsion bar 3942 to drive the torsion bar 3942 to rotate. Preferably, the torsion bar 3942 has an axially penetrating grouting channel inside, thus forming a grouting pipe.

[0128] The rotating pushing assembly 393 also includes a nut interface 3945 and a rod head interface 3946. The nut interface 3945 can be connected to the front end of the torque tube 3941 and is used to rotate together with the torque tube 3941 to complete the screwing in of the anchor nut. The rod head interface 3946 can be connected to the front end of the torque rod 3942, and the rod head interface 3946 is provided with an internal thread for engaging with the external thread at the end of the anchor rod, thereby realizing the threaded connection between the torque rod 3942 and the anchor rod. Compared with the prior art, which only involves pressing the torque rod 3942 against the anchor rod before grouting, this application can ensure that no grout leakage occurs during the grouting process. In addition, since the torque rod 3942 is connected to the anchor rod, it is possible to push the anchor rod forward while simultaneously rotating it, which is an essential step in some anchor rod installation applications.

[0129] As a further improvement, the first drive motor 3943 and the second drive motor 3944 are both parallel to the rotary push assembly 393, that is, their axes are parallel. This arrangement can reduce the volume of the entire rotary push assembly 393 and further prevent interference between the structural components.

[0130] As a further improvement, the rotary push assembly 393 also includes a housing 395 and a buffer spring 396; the tail end of the torsion tube 3941, the tail end of the torsion bar 3942, the first drive motor 3943 and the second drive motor 3944 are all housed in the housing 395; the buffer spring 396 is installed between the rear end of the torsion bar 3942 and the inner wall of the housing 395.

[0131] The purpose of the buffer spring 396 is as follows: When installing low-prestress anchor bolts, after the anchor bolt is in place, the anchor nut needs to be tightened to generate low prestress on the rock wall. During this process, the anchor bolt will actually retract a certain distance. In the prior art, without the buffer spring 396, the retracted anchor bolt will compress the torsion bar 3942, causing the structural component to bend or be damaged. The buffer spring 396 in this application effectively avoids the above situation, releasing the compressive force, protecting the structural component, and thus improving the service life of the equipment.

[0132] Alternatively, a sleeve is fitted onto the tail end of the torsion bar 3942. The two ends of the buffer spring 396 rest between the torsion bar 3942 and the sleeve 397, respectively. The sleeve 397 itself can rotate relative to the housing 395. After assembly, the sleeve 397 can rotate together with the buffer spring 396 and the torsion bar 3942, preventing the buffer spring 396 from acting directly on the housing 395 and thus protecting the housing 395.

[0133] For further improvements, see Figure 13A translation mechanism (not shown) is also provided between the rotary pushing component 393 and the slider (not shown) on the anchoring rail 391; the translation mechanism is used to drive the rotary pushing component 393 to move back and forth in the lateral direction (perpendicular to the axis of the torque tube 3941). For example, a slide plate, slide rail, lead screw, or other structure can be provided between the two; or, a swing frame can be provided on the anchoring rail 391, and the rotary pushing component 393 can be fixed on the swing frame, so that the rotary pushing component 393 can move back and forth in the lateral direction by swinging left and right. Any structure that can realize the lateral back and forth movement of the rotary pushing component 393 on the anchoring rail 391 is acceptable, and the present invention is not limited to this. It should be noted that the translation direction of the translation mechanism is preferably perpendicular to the extension direction of the anchoring rail 391 (axis of the torque tube 3941). Of course, as long as the translation direction is not parallel to the extension direction of the anchoring rail 391, the technical effect of the anchoring rail 391 avoiding the anchor rod can be achieved (when the conveyor wheel assembly conveys the anchor rod).

[0134] Please refer to the following: Figure 14 Specifically, in this embodiment, the end of the anchoring arm 3 is also equipped with a working platform 4. The working platform 4 includes a base plate 41, a fence 42, and a roof 43. The roof 43 includes columns and baffles. The bottom of the columns is fixedly connected to one side of the working platform 4, and the baffle is fixedly connected to the top of the columns. The baffle extends into the working platform 4 and covers the middle part of the working platform to maximize the protection of the workers. Setting the working platform 4 on the anchoring arm 3 has the following benefits: The existing working platform 4 is set on another working arm and is separate from the anchoring device 35. When a failure occurs during the anchor installation process, it is necessary to control the working arm (the arm with the working platform) to move closer to another working arm (the multi-functional arm with the anchoring device). However, in actual use, the two working arms cannot get close enough, especially it is very difficult to get close to the failure point. These failures include, but are not limited to, drilling failures and anchor installation failures. In many cases, workers need to climb out of the working platform 4 to reach the work point. These failure work points are often very close to the anchor hole, which makes manual assistance work inconvenient and dangerous. In this application, the working platform 4 is set at the end of the anchoring arm 3, so that it is naturally close enough to the anchoring device 35 and the anchor hole being processed, which facilitates the workers to perform auxiliary operations for drilling and anchor installation and to troubleshoot related faults.

[0135] As a further improvement, the work platform 4 is designed to be horizontally expandable. Specifically, one side of the work platform 4 is equipped with a flip-up footboard 44. When flipped downwards and positioned horizontally, the footboard 44 serves as an extension of the original work platform 4, thereby expanding the space where workers can stand. Preferably, the footboard 44 is equipped with a guardrail 45 for workers to hold onto, improving safety. When flipped upwards and positioned vertically, the footboard 44 can be closed off. A movable connecting component, such as a hook, is provided between the footboard 44 and the work platform 4 to facilitate the lowering and returning of the footboard 44.

[0136] Specifically, the anchoring device 35 is rotatably mounted on the outside of the working platform 4. In terms of specific installation position, the horizontal pivot of the anchoring device 35 is located in the middle of the working platform 4, thus allowing the anchoring device 35 to rotate 360°, facilitating flexible adjustment of the installation posture. It should be noted that in other embodiments, both the anchoring device 35 and the working platform 4 can be rotatably mounted independently at the end of the anchoring arm 3.

[0137] As a further improvement, the end of the anchoring arm 3 is also equipped with a grouting mechanism 5. In this embodiment, the grouting mechanism 5 is installed inside the working platform 4. The grouting mechanism 5 includes a grout storage and mixing tank and a grouting pump. The grouting pump is connected to the anchoring device 35 through a pipeline, specifically to the tail end of the torsion bar 3942.

[0138] This arrangement offers the following benefits: The solution proposed in this application effectively shortens the distance between the grouting mechanism 5 and the anchoring device 35. First, it reduces the length of the pipeline, thereby lowering costs. Second, it reduces the power and volume of the grouting pump, further reducing costs. Third, shorter pipelines reduce the waste of grout remaining in the pipeline.

[0139] Obviously, the above embodiments are merely examples for clear illustration and are not intended to limit the implementation. For example, the number of drilling arms 2 can also be two, three, etc., and the number of anchoring arms 3 is not limited to the two in the above embodiments; for example, only one, three, etc., can be set. Manufacturers can flexibly set the number of arms according to the actual situation in the tunnel and the space conditions of the chassis 1. For those skilled in the art, other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all the implementation methods here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. An anchoring device, characterized in that: The device includes a conveyor wheel assembly, a linear drive mechanism, and a rotary push assembly. The conveyor wheel assembly is fixed to the linear drive mechanism, which drives the rotary push assembly to move in a straight line. The rotary push assembly is disposed on the linear drive mechanism via a translation mechanism, wherein the translation direction of the translation mechanism is not parallel to the direction of the linear movement. The conveyor wheel assembly includes at least one pair of conveyor wheels, which can be arranged to be far apart or close together. When they are close together, they are used to clamp the anchor rod or anchor cable and rotate to drive the anchor rod or anchor cable forward. The rotary pushing assembly is used to push the anchor bolt or anchor cable forward and rotate at the same time. The anchor bolt or anchor cable is conveyed into the anchor hole through the conveying wheel assembly and the rotary pushing assembly in turn. The rotary pushing assembly includes a torsion tube and a torsion bar nested together. The torsion tube is sleeved on the torsion bar, and both the torsion tube and the torsion bar can be driven to rotate. The torsion bar has an axially penetrating grouting channel inside, so that the torsion bar forms a grouting pipe.

2. The anchoring device as described in claim 1, characterized in that, The linear drive mechanism includes an anchoring rail and a slider, and the rotary pushing component is disposed on the slider via a translation mechanism; the conveying wheel assembly is fixed to the anchoring rail.

3. The anchoring device as described in claim 1, characterized in that, The conveyor wheel assembly also includes a base, two swing arms, and two linear actuators; the two swing arms are pivotally connected to the base and can be opened and closed, and the pair of conveyor wheels are respectively mounted on the two swing arms; the linear actuators are connected between the swing arms and the base and are used to drive the swing arms to perform opening and closing movements.

4. An anchoring device as described in claim 1, characterized in that, The rotating push assembly includes a first drive motor and a second drive motor. The first drive motor is engaged with the torque tube to drive the torque tube to rotate; the second drive motor is engaged with the torque bar to drive the torque bar to rotate.

5. An anchoring device as described in claim 1, characterized in that, The rotary push assembly also includes a nut interface and a rod head interface; the nut interface can be connected to the front end of the torque tube, and the rod head interface can be connected to the front end of the torque bar.

6. An anchoring device as described in claim 1, characterized in that, The rotary pushing assembly also includes a housing and a buffer spring; the tail end of the torsion tube and the tail end of the torsion bar are both housed in the housing; the buffer spring is installed between the rear end of the torsion bar and the inner wall of the housing.

7. An anchoring device as described in claim 6, characterized in that, A sleeve is fitted onto the rear end of the torsion bar, and the two ends of the buffer spring abut against the torsion bar and the sleeve, respectively.

8. A drilling and anchoring integrated machine, characterized in that, include: Chassis; At least one rock drill arm, the end of which is equipped with a drilling device; At least one anchoring arm, the end of which is fitted with an anchoring device as described in any one of claims 1-7; The bottom of both the rock drilling arm and the anchoring arm can be horizontally rotatably mounted on the chassis, and both the rock drilling arm and the anchoring arm can be freely tilted up and down and extended and retracted to move the end of the working arm to the working point.

9. The drilling and anchoring integrated machine as described in claim 8, characterized in that, It also includes a controller, several first position sensors, and several second position sensors; The first position sensor and the second position sensor are respectively installed on the rock drilling arm and the anchoring arm; The first position sensor is used to record the hole position information of each hole and store it in the controller. The second position sensor is used to acquire the hole position information and, together with the controller, control the anchor arm to align the hole.

10. The drilling and anchoring integrated machine as described in claim 8, characterized in that, The axial length of the anchoring device is less than the axial length of the drilling device; The anchoring device includes an anchor magazine, a bolt shifting assembly, and a conveying mechanism; The length of the bolt library is extendable to accommodate bolts of various sizes; The bolt moving assembly is used to move the bolt from the bolt magazine to the conveying mechanism; The conveying mechanism includes an anchoring track, a conveying wheel assembly, and a rotating pushing assembly.

11. The drilling and anchoring integrated machine as described in claim 10, characterized in that, The anchor bolt storage includes a storage frame and external telescopic bolts; The rack includes an inner telescopic rod and several turntables. The turntables are fixedly installed between the two ends of the inner telescopic rod, and the turntables form anchor positions for storing anchor rods. The outer telescopic rod and the inner telescopic rod are connected at both ends respectively.

12. The drilling and anchoring integrated machine as described in claim 11, characterized in that, The external telescopic rod includes an inner tube, a sleeve, and a locking component; The inner tube and the outer tube are interlocked and can extend and retract relative to each other; The locking element is located between the inner tube and the sleeve for positioning between them.

13. The drilling and anchoring integrated machine as described in claim 11, characterized in that, The warehouse rack also includes a drop bar ring, which surrounds the perimeter of the warehouse rack and is a circular ring with a notch.

14. The drilling and anchoring integrated machine as described in claim 10, characterized in that, The moving rod assembly includes a crossbeam, connecting rod arms connecting both ends of the crossbeam, and a driving device connecting one of the connecting rod arms. The driving device is used to drive the connecting rod arm to stand up or fall down, thereby driving the crossbeam to rise and fall. A magnetic suction component for receiving the anchor rod is fixedly installed on the crossbeam.

15. The drilling and anchoring integrated machine as described in claim 8, characterized in that, The rock drilling arm includes a rock drilling boom and a rock drilling telescopic boom; The rock drilling boom can be connected to the base of the rock drilling boom in a tilting motion, and the rock drilling telescopic boom can be connected to the end of the rock drilling boom in a tilting motion. The rock drilling boom is used to raise the initial horizontal height of the rock drilling telescopic boom.

16. The drilling and anchoring integrated machine as described in claim 15, characterized in that, The front end of the rock drilling telescopic arm is connected in sequence to the rock drilling forearm and the swing seat; The swing seat is connected to the rock-drilling arm via a vertical pivot, and the drilling device is connected to the swing seat via a horizontal pivot.

17. The drilling and anchoring integrated machine as described in claim 16, characterized in that, The drilling device includes a drilling rig and a track, wherein the drilling rig is configured to move back and forth along the track; The working surface of the track faces the side of the drilling and anchoring machine.

18. The drilling and anchoring integrated machine as described in claim 8, characterized in that, The anchoring arm includes an anchoring telescopic arm, which is vertically and horizontally connected to the base of the anchoring arm; or The anchoring arm includes an anchoring boom and an anchoring telescopic boom. The anchoring boom is connected to the base of the anchoring arm in a tilting motion, and the anchoring telescopic boom is connected to the end of the anchoring boom in a tilting motion. The anchoring boom is used to raise the initial horizontal height of the anchoring telescopic boom.

19. The drilling and anchoring integrated machine as described in claim 18, characterized in that, The front end of the anchoring telescopic boom is sequentially connected to the anchoring forearm and the working platform. The working platform is rotatably mounted on the end of the anchoring arm, and the anchoring device is connected to one side of the working platform via a horizontal pivot.

20. An anchor loading platform vehicle, comprising: A chassis and at least one anchoring arm, the end of which is fitted with an anchoring device as described in any one of claims 1-7; characterized in that, The end of the anchoring arm is also equipped with a working platform.

21. The anchor loading trolley as described in claim 20, characterized in that, The anchoring device is rotatably mounted on the outside of the working platform; or both the anchoring device and the working platform are rotatably mounted on the end of the anchoring arm.

22. The anchor loading trolley as described in claim 20, characterized in that, The working platform is also equipped with a grouting mechanism, which includes a grout storage and mixing tank and a grouting pump; the grouting pump is connected to the anchoring device through a pipeline.

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