Anchor and grouting integrated anchor rod automatic construction system

Abstract

This invention discloses an integrated automatic anchor bolt construction system, comprising a drilling rig assembly and an anchor bolt chamber assembly. The drilling rig assembly includes a drilling frame, a drill box base, a sliding module, a drilling box, a pre-tightening drill box, a sliding seat assembly, and a sliding drive. The drill box base is fixed to the drilling frame, the sliding module is slidably mounted on the drilling frame, and both a first sliding seat and a second sliding seat are slidably mounted on the drill box base. The sliding drive is located on the drill box base and is used to drive the sliding seat assembly. The sliding seat assembly includes a first sliding seat and a second sliding seat. The drilling box is installed on the first sliding seat, and the pre-tightening drill box is installed on the second sliding seat. The anchor bolt chamber assembly includes a chamber frame, a rotating component, and a robotic arm. The chamber frame is fixedly connected to the drilling frame, the rotating component stores anchor bolts, and the rotating component is rotatably mounted on the chamber frame. The robotic arm is located on the chamber frame. This construction system simplifies the anchor bolt construction process, improves the automation of anchor bolt construction, thereby increasing work efficiency and reducing the labor intensity of workers.

Description

Technical Field

[0001] This invention relates to the field of anchor bolt construction technology, and more specifically, to an integrated anchor-grouting automatic construction system. Background Technology

[0002] During underground mining, timely support of the excavated roadways is necessary. Rock bolt support, as a simple and effective support method, can combine the surrounding rock with stable rock mass, creating a suspension and composite beam effect, thus fully ensuring the safety of roadway construction. However, traditional rock bolt construction often requires manual labor for drilling, installing anchoring agents, and installing rock bolts, resulting in time-consuming and labor-intensive processes, low efficiency and automation, and high labor intensity. Summary of the Invention

[0003] The present invention aims to at least partially solve one of the technical problems in the related art.

[0004] To address this, this invention proposes an integrated anchoring and grouting automatic construction system for anchor bolts. This system simplifies the anchor bolt construction process, improves the automation of anchor bolt construction, thereby increasing work efficiency and reducing the labor intensity of workers.

[0005] The automatic anchor bolt construction system integrating anchoring and grouting according to an embodiment of the present invention includes:

[0006] The drilling rig assembly includes a drill frame, a drill box base, a sliding module, a drilling drill box, a pre-tightening drill box, a sliding seat assembly, and a sliding drive.

[0007] The drill box base is fixed to the drill frame, and the drill box base has a slot in the middle. The sliding module is fitted into the slot and slides along the first direction to be assembled to the drill frame. The drilling box is fixed with a drill rod for drilling. The pre-tightening drill box is used to feed and pre-tighten the anchor rod into the drill hole. The anchor rod has at least two channels for conveying different types of anchoring agent components into the drill hole.

[0008] The sliding seat assembly has a first position and a second position. The sliding seat assembly is slidably mounted on the drill box base along a second direction orthogonal to the first direction. The sliding drive is provided on the drill box base and is used to drive the sliding seat assembly to switch back and forth between the first position and the second position.

[0009] The sliding seat assembly includes a first sliding seat and a second sliding seat. The drilling box is installed on the first sliding seat, and the pre-tightening drilling box is installed on the second sliding seat. In the first position, the second sliding seat cooperates with the sliding module and can slide synchronously with the sliding module along the first direction. In the second position, the first sliding seat cooperates with the sliding module and can slide synchronously with the sliding module along the first direction.

[0010] An anchor bolt magazine assembly, the anchor bolt magazine assembly including a magazine frame, a rotating assembly and a robotic arm;

[0011] The storage rack is fixedly connected to the drill frame. The rotating assembly stores a plurality of anchor rods arranged at circumferential intervals along the rotating assembly. The rotating assembly is rotatably mounted on the storage rack and, through rotation, sends each anchor rod to the docking point with the robotic arm. The robotic arm is located on the storage rack and is used to grasp the anchor rod located at the docking point and send the anchor rod to the pre-tightening drill box located at the first position.

[0012] The integrated anchoring and grouting automatic construction system of this invention simplifies the anchoring process, improves the automation of anchoring, thereby increasing work efficiency and reducing the labor intensity of workers.

[0013] In some embodiments, the rack includes:

[0014] The first support and the second support are both fixedly connected to the drill frame, and the first support and the second support are arranged at intervals in the first direction.

[0015] A double-rod hydraulic cylinder, wherein the two piston rods of the double-rod hydraulic cylinder are respectively connected to the first bracket and the second bracket, and the manipulator is mounted on the cylinder body of the double-rod hydraulic cylinder;

[0016] The crank cylinder has a rocker arm at one end. One end of the crank cylinder is rotatably connected to one of the first support and the second support, and the other end of the crank cylinder is rotatably connected to the rocker arm. The crank cylinder drives the double-outlet cylinder and the manipulator to swing through the rocker arm so that the manipulator can send the anchor rod grabbed from the docking point to the pre-tightening drill box.

[0017] In some embodiments, the first bracket is disposed adjacent to the drill box base, the rocker arm is disposed at the end of the double rod cylinder facing the first bracket, the crank cylinder and the rocker arm are both located on the side of the first bracket away from the second bracket, and one end of the crank cylinder is hinged to the first bracket, and the other end of the crank cylinder is hinged to the free end of the rocker arm.

[0018] The second support is annular and has an annular channel through which multiple anchor rods pass. The annular channel has an opening for the anchor rods being grasped by the robotic arm to be removed from the frame. When the rotating assembly rotates, the multiple anchor rods can move sequentially along the annular channel to the opening.

[0019] In some embodiments, the rotating assembly includes:

[0020] A dial is rotatably mounted on the side of the first bracket facing the second bracket. The outer peripheral edge of the dial is provided with multiple slots for inserting anchor rods and securing them in place.

[0021] A rotation drive is provided on the side of the first bracket away from the second bracket, and the rotation drive is used to drive the dial to rotate so that each of the anchor rods on the dial can move sequentially along the annular channel to the opening.

[0022] In some embodiments, the robotic arm includes an actuator and a clamping cylinder, the clamping cylinder being rotatably connected to the actuator and used to drive a portion of the actuator to swing via the telescopic adjustment to achieve clamping and gripping of the anchor rod.

[0023] In some embodiments, the drilling assembly includes a clamping mechanism disposed on the drill frame and arranged opposite to the sliding module in the first direction. The clamping mechanism is adjustable and has a first form and a second form. The opening angle of the clamping mechanism in the second form is greater than the opening angle in the first form. In the first form, the clamping mechanism is used to straighten the drill rod or the anchor rod. In the second form, the clamping mechanism allows the drilling box or the pre-tightening drilling box to pass through.

[0024] In some embodiments, the clamping mechanism includes:

[0025] The base includes a mounting plate, a first protective plate, and a second protective plate. The mounting plate is used to fix the base to the top of the anchor drilling rig. The first protective plate and the second protective plate are both fixed to the top side of the mounting plate, and the first protective plate, the second protective plate, and the mounting plate form an assembly cavity.

[0026] A driver and a transmission component, wherein the driver is assembled in the assembly cavity, the transmission component is connected to the driver, and both clamps are slidably assembled with the transmission component to switch to the first or the second configuration via the slid assembly when the driver drives the transmission component to move.

[0027] In some embodiments, the transmission member is provided with a first slide groove and a second slide groove, the first slide groove and the second slide groove are arranged at intervals and both extend along the extension direction of the transmission member, the driver includes a drive rod, the transmission member is connected to the drive rod and is arranged orthogonally to the drive rod, the first clamp is provided with a first sliding pin, the second clamp is provided with a second sliding pin, the first sliding pin is slidably fitted in the first slide groove and can rotate relative to it in the first slide groove, and the second sliding pin is slidably fitted in the second slide groove and can rotate relative to it in the second slide groove.

[0028] In some embodiments, a limit drive and a module drive are included. The limit drive is disposed on the sliding module. Both the first sliding seat and the second sliding seat are provided with limit holes. In the first position, the limit drive is limited to the limit hole on the second sliding seat. In the second position, the limit drive is limited to the limit hole on the first sliding seat.

[0029] The module driver is located on the drill frame, and the module driver is connected to the sliding module and is used to drive the sliding module to slide along the first direction.

[0030] In some embodiments, the sliding drive is located below the sliding base, and the sliding drive is provided with a plurality of pins. The first sliding base and the second sliding base are detachably connected to the sliding drive through corresponding pins, and each pin extends along the first direction.

[0031] And / or, the output speed of the drilling rig is greater than the output speed of the pre-tightening drilling rig, and the output torque of the drilling rig is less than the output torque of the pre-tightening drilling rig. Attached Figure Description

[0032] Figure 1 This is a front view schematic diagram of the automatic construction system for integrated anchoring and injection anchor bolts according to an embodiment of the present invention.

[0033] Figure 2 This is a three-dimensional schematic diagram of the drilling rig assembly according to an embodiment of the present invention.

[0034] Figure 3 yes Figure 1 A front view of the drilling rig assembly.

[0035] Figure 4 This is a three-dimensional schematic diagram of the automatic construction system for integrated anchoring and injection anchor bolts according to an embodiment of the present invention.

[0036] Figure 5 yes Figure 4 A three-dimensional schematic diagram of the central anchor bolt assembly.

[0037] Figure 6This is a schematic diagram illustrating the cooperation between the sliding module and the second sliding seat in an embodiment of the present invention.

[0038] Figure 7 This is an assembly diagram of the drill box base, sliding module, first sliding seat, and second sliding seat according to an embodiment of the present invention.

[0039] Figure 8 This is a top view of the clamping mechanism in the first configuration according to an embodiment of the present invention.

[0040] Figure 9 This is a top view schematic diagram of the clamping mechanism in the second embodiment of the present invention.

[0041] Figure 10 This is a three-dimensional schematic diagram of a portion of the clamping mechanism in the second embodiment of the present invention. Figure 1 .

[0042] Figure 11 This is a three-dimensional schematic diagram of a portion of the clamping mechanism in the second embodiment of the present invention. Figure 2 .

[0043] Figure label:

[0044] Drilling rig assembly 100;

[0045] Drill rig 11;

[0046] Drill box base 12; first plate 121; second plate 122; inclined plate 123; guide groove 124;

[0047] Sliding module 13;

[0048] Drill box 14; Drill rod 141;

[0049] Pre-tightening drill box 15;

[0050] Clamping mechanism 16; base 161; first guard plate 1611; extension 16111; second guard plate 1612; mounting plate 1613; assembly cavity 1614; clamping assembly 162; first clamp 1621; first groove 16211; first slot 16212; first sliding pin 16213; second clamp 1622; second groove 16221; second slot 16222; second sliding pin 16223; interface 1623; driver 163; drive rod 1631; transmission component 164; first slide groove 1641; second slide groove 1642; first pin 165; second pin 166;

[0051] Sliding seat assembly 17; First sliding seat 171; Second sliding seat 172; Limiting hole 173; Guide part 174;

[0052] Sliding drive 18; Pin 181;

[0053] Limit drive 19;

[0054] Anchor bolt assembly 200;

[0055] 21; 211; 212; 2121; 2121; 213; 214; 215; 215;

[0056] Rotating assembly 22; dial 221; rotation drive 222;

[0057] 23 robotic arm; 231 clamping cylinder;

[0058] Anchor bolt 300. Detailed Implementation

[0059] 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.

[0060] like Figure 1 As shown, the automatic anchor bolt construction system integrating anchoring and grouting (hereinafter referred to as the construction system) of this invention includes a drilling rig assembly 100 and an anchor bolt chamber assembly 200. The drilling rig assembly 100 and the anchor bolt chamber assembly 200 can be connected and fixed, and can be arranged in parallel in the left and right directions.

[0061] The drilling rig assembly 100 may include a drill frame 11, a drill box base 12, a sliding module 13, a drilling box 14, a pre-tightening drill box 15, a clamping mechanism 16, a sliding seat group 17, and a sliding drive 18.

[0062] The drill frame 11 can be roughly cubic in shape, such as... Figure 2 and Figure 3 As shown, the drill frame 11 can be assembled from plates, rods, etc., and the drill frame 11 generally extends in the vertical direction. The drill box base 12 is fixed to the drill frame 11. For example, the drill box base 12 can be fixed to the bottom of the drill box base 12 and located on the front side of the drill frame 11 by fasteners such as bolts.

[0063] The drill box base 12 may have a slot in the middle, which is generally rectangular and runs through the drill box base 12 vertically, with the slot opening facing the front of the drill box base 12. Specifically, the drill box base 12 may be divided into two independent parts, which may be arranged at intervals in the left and right directions. The left drill box base 12 may be fixed to the left side of the drill frame 11, and the right drill box base 12 may be fixed to the right side of the drill frame 11. The slot may be formed between the two independent parts of the drill box base 12, thereby facilitating the formation of the slot.

[0064] The sliding module 13 is fitted into the slot and slidably mounted on the drill frame 11 along the first direction. For example, the sliding module 13 can be a block structure with two guide holes, and the drill frame 11 can have two guide posts. Both guide posts extend along the first direction (vertical direction), and the two guide posts are slidably mounted in the two guide holes, allowing the sliding module 13 to slide back and forth along the first direction. When the sliding module 13 slides to the bottom of the drill frame 11, it is inserted into the slot of the drill box base 12, so that the sliding module 13 and the drill box base 12 are roughly at the same level, facilitating the subsequent switching of the sliding seat assembly 17 between the sliding module 13 and the drill box base 12.

[0065] like Figure 2 As shown, the drilling box 14 and the pre-tightening drilling box 15 can be arranged parallel to each other in the left-right direction. The drilling box 14 is fixed with a drill rod 141 for drilling. The drill rod 141 extends in the vertical direction. When the drilling box 14 is started, the drill rod 141 can be used to drill into the coal wall. The pre-tightening drilling box 15 can be used to install anchor bolts 300. When the pre-tightening drilling box 15 is started, the anchor bolts 300 can be sent into the completed borehole. After the anchoring agent in the borehole has solidified, the pre-tightening drilling box 15 can also drive the pre-tightening nut, thereby achieving the pre-tightening and fixing of the anchor bolts 300.

[0066] The anchor bolt 300 has at least two channels for delivering different types of anchoring agent components into the borehole. For example, the anchor bolt 300 may have two channels, both extending along the axial direction of the anchor bolt 300, with the inlet of each channel located at the bottom of the anchor bolt 300 and the outlet of each channel located at the top of the anchor bolt 300.

[0067] In use, one channel allows for the introduction of anchoring agent component A, while the other channel allows for the introduction of anchoring agent component B. Components A and B then flow out from their respective channel outlets and can flow in the opposite direction towards the borehole opening, thus filling the gap between the anchor rod 300 and the borehole. It should be noted that components A and B mix and rapidly solidify in the annular space between the anchor rod 300 and the borehole, thereby achieving anchoring of the anchor rod 300.

[0068] The clamping mechanism 16 is arranged opposite to the sliding module 13 in a first direction, for example, as Figure 2As shown, the clamping mechanism 16 can be fixed to the top of the drill frame 11. The clamping mechanism 16 can be arranged directly opposite the sliding module 13 in the vertical direction. The clamping mechanism 16 is located on the drill frame 11 and has two clamps. The angle of the two clamps can be opened and closed to make the clamping mechanism 16 have a first form and a second form. In the first form, the clamping mechanism 16 is used to straighten the drill rod 141 or the anchor rod 300. In the second form, the clamping mechanism 16 allows the drilling box 14 or the pre-tightening drilling box 15 to pass through.

[0069] Specifically, such as Figure 8 As shown, the clamping mechanism 16 may include a base 161 and a clamping assembly 162. The clamping assembly 162 has a first form and a second form and includes a first clamp 1621 and a second clamp 1622 that can be opened and closed. One end of the first clamp 1621 and the second clamp 1622 are rotatably connected to the base 161. The other end of the first clamp 1621 is provided with a first groove 16211, and the other end of the second clamp 1622 is provided with a second groove 16221.

[0070] For example, such as Figures 8 to 10 As shown, both the first clamp 1621 and the second clamp 1622 can be cast parts. Both clamps 1621 and 1622 can be arranged generally along the front-to-back direction, and can be arranged opposite each other in the left-to-right direction, with the first clamp 1621 located to the left of the second clamp 1622. The rear ends of both clamps 1621 and 1622 can be pivotally mounted to the base 161, allowing them to swing relative to each other in the left-to-right direction, thus satisfying the need to adjust the opening angle of the clamps 1621 and 1622.

[0071] The front end of the first clamp 1621 is provided with a first groove 16211, which can be located on the right side of the first clamp 1621. The front end of the second clamp 1622 is provided with a second groove 16221, which can be located on the left side of the second clamp 1622. Both the first groove 16211 and the second groove 16221 can be semi-circular grooves.

[0072] Since the first clamp 1621 and the second clamp 1622 can swing relative to each other and adjust their opening and closing angles, during the swing adjustment process, the clamp assembly 162 has a first shape, specifically as follows: Figure 8As shown, at this time, the opening angle of the first clamp 1621 and the second clamp 1622 can be minimized, and the openings of the first groove 16211 and the second groove 16221 can be aligned and joined together to form a through hole, which is a circular hole. Therefore, the anchor rod 300 and the drill rod 141 can fit into the through hole formed by the joining of the first groove 16211 and the second groove 16221. The hole wall of the through hole can act as a limiting force, thereby correcting and assisting in the straightening of the anchor rod 300 and the drill rod 141.

[0073] When the opening angle of the first clamp 1621 and the second clamp 1622 increases, the clamp assembly 162 can switch to the second mode. At this time, as... Figure 9 and Figure 10 As shown, the opening angle formed by the first clamp 1621 and the second clamp 1622 can be maximized, thereby allowing the size of the space between the first clamp 1621 and the second clamp 1622 to be larger, which meets the usage requirements for the drilling box 14 and the pre-tightening drilling box 15 to pass through. In addition, it also meets the usage requirements for the passage of large-sized components such as the tray on the anchor rod 300.

[0074] like Figure 7 As shown, the sliding seat assembly 17 has a first position and a second position and includes a first sliding seat 171 and a second sliding seat 172. Both the first sliding seat 171 and the second sliding seat 172 can be generally square plate-shaped structures. The first sliding seat 171 and the second sliding seat 172 are slidably assembled on the drill box base 12 along a second direction (left-right direction) orthogonal to the first direction. The sliding drive 18 is provided on the drill box base 12. The sliding drive 18 can be a telescopic hydraulic cylinder, specifically a single rod extension hydraulic cylinder.

[0075] In use, the sliding drive 18 can be connected to the first sliding seat 171 and the second sliding seat 172. Then, by extending and retracting the sliding drive 18, the first sliding seat 171 and the second sliding seat 172 can be synchronously switched between the first position and the second position. Figure 7 The first sliding seat 171 and the second sliding seat 172 are in the first position.

[0076] like Figure 3 As shown, the drilling box 14 is mounted on the first sliding seat 171, and the pre-tightening drilling box 15 is mounted on the second sliding seat 172, as... Figure 3 As shown, at this time, the sliding seat assembly 17 is in the first position. In the first position, the drilling box 14 is located beside the sliding module 13 (which can be on the right side) and is idle. The pre-tightening drilling box 15 is engaged with the sliding module 13 and can slide synchronously with the sliding module 13 in the first direction. When the sliding seat assembly 17 is in the second position, the pre-tightening drilling box 15 is located beside the sliding module 13 (which can be on the left side) and is idle. The drilling box 14 is engaged with the sliding module 13 and can slide synchronously with the sliding module 13 in the first direction.

[0077] like Figure 4 As shown, the bolt housing assembly 200 includes a housing frame 21, a rotating assembly 22, and a robotic arm 23. The housing frame 21 is fixedly connected to the drill frame 11. For example, the housing frame 21 can be installed and fixed to the drill frame 11 by fasteners such as bolts. In some other embodiments, the housing frame 21 can also be installed and fixed to the drill frame 11 by welding, integral molding, or other methods.

[0078] The rotating assembly 22 stores a plurality of anchor rods 300 arranged at circumferential intervals along the rotating assembly 22, for example, Figure 4 and Figure 5 As shown, eight anchor bolts 300 can be pre-placed on the rotating assembly 22. In some other embodiments, five, six, seven, nine, or other numbers of anchor bolts 300 can also be placed on the rotating assembly 22. The rotating assembly 22 is rotatably mounted on the warehouse frame 21, and the robotic arm 23 can be installed and fixed to the warehouse frame 21.

[0079] In use, the rotating component 22 can rotate itself to send each anchor rod 300 to the docking point with the rotating component 22 and the robot arm 23 in sequence. The robot arm 23 can grip the anchor rod 300 at the docking point. Then, the robot arm 23 can transport it to the top of the pre-tightening drill box 15 located in the first position by swinging, translating or other means. Then, the pre-tightening drill box 15 is moved upward by the upward movement of the sliding module 13, so that the anchor rod 300 can be anchored into the drill hole through the pre-tightening drill box 15.

[0080] Specifically, the construction system of the present invention may include the following steps when in use:

[0081] S1: The sliding seat group 17 can be driven to the second position by the sliding drive 18. At this time, the drilling box 14 slides onto the sliding module 13 through the first sliding seat 171, and the pre-tightening drilling box 15 slides to the side of the sliding module 13 through the second sliding seat 172.

[0082] S2: Switch the clamping mechanism 16 to the first state and clamp the drill rod 141 between the two clamps. The clamping mechanism 16 can play a straightening role. Then the drilling box 14 can be started and the sliding module 13 can be driven to move upward, thereby realizing the drilling construction.

[0083] S3: When the drilling box 14 is near the clamping mechanism 16, the clamping mechanism 16 can be switched to the second state, so that the drilling box 14 can pass through the clamping mechanism 16.

[0084] S4: After the drilling is completed, the sliding module 13 can be reset, and then the sliding base can be switched to the first position using the sliding drive 18. At this time, the pre-tightening drill box 15 slides onto the sliding module 13 through the second sliding seat 172, and the drilling drill box 14 slides to the other side of the sliding module 13 through the first sliding seat 171.

[0085] S5: Use the robotic arm 23 to transfer the anchor rod 300 located at the docking position on the rotating assembly 22 to directly above the pre-tightening drill box;

[0086] S6: Then the sliding module 13 can be driven to move upward again and the clamping mechanism 16 can be switched to the first state again, so that the anchor rod 300 can be inserted into the borehole. When the tray on the anchor rod 300 and the pre-tightening drill box 15 pass through the clamping mechanism 16, the clamping mechanism 16 can be switched to the second state to improve the passability.

[0087] S7: Then, different anchoring agent components can be pumped into the channel of the anchor bolt 300 via a pumping device.

[0088] S8: After the different anchoring agent components are mixed and cured, the pre-tightening nut can be fixed by the pre-tightening drill box 15, so that the anchor rod 300 can be constructed, and then the pre-tightening drill box 15 can be reset.

[0089] The integrated anchoring and grouting automatic construction system of this invention can simplify the construction process of anchor 300, improve the automation of the entire construction process of anchor 300, thereby improving work efficiency and reducing the labor intensity of workers.

[0090] In some embodiments, such as Figure 5 As shown, the housing frame 21 includes a first support 211, a second support 212, a double-rod hydraulic cylinder 213, and a crank cylinder 214. Both the first support 211 and the second support 212 are fixedly connected to the drill frame 11. For example, both the first support 211 and the second support 212 can be fixedly connected to the drill frame 11 by bolts, and the first support 211 and the second support 212 are arranged at intervals in the vertical direction.

[0091] The two piston rods of the double-rod hydraulic cylinder 213 are respectively connected to the first support 211 and the second support 212, and the manipulator 23 is mounted on the cylinder body of the double-rod hydraulic cylinder 213. Specifically, the double-rod hydraulic cylinder 213 includes a cylinder body and two piston rods, which extend from the top and bottom of the cylinder body respectively. The top of the piston rod located on the top side can be rotatably assembled with the second support 212, and the bottom of the piston rod located on the bottom side can be rotatably assembled with the first support 211. Figure 5As shown, there can be two robotic arms 23. Both robotic arms 23 can be installed and fixed to the cylinder body. The two robotic arms 23 are arranged in parallel and spaced apart in the vertical direction, and the two robotic arms 23 can be controlled synchronously during use.

[0092] like Figure 5 As shown, the end of the double-rod cylinder 213 is provided with a rocker arm 215. For example, the piston rod on the bottom side can pass through the first bracket 211, and the rocker arm 215 can be fixed to the bottom end of the piston rod on the bottom side. One end of the crank cylinder 214 can be rotatably connected to the first bracket 211, and the other end of the crank cylinder 214 is rotatably connected to the rocker arm 215.

[0093] In use, the extension and retraction of the crank cylinder 214 can drive the rocker arm 215 to swing, which in turn drives the double rod cylinder 213 to rotate. Thus, the two robotic arms can swing synchronously with the double rod cylinder 213, thereby transporting the anchor rod 300 grabbed by the robotic arms from the docking point with the rotating component 22 to the top of the pre-tightening drill box 15, realizing the automatic supply of the anchor rod 300 to the pre-tightening drill box 15.

[0094] Optionally, the first bracket 211 is located adjacent to the drill box base 12, that is, the first bracket 211 is located on the bottom side of the second bracket 212, the rocker arm 215 is located at the end of the double rod cylinder 213 facing the first bracket 211 (that is, the bottom of the double rod cylinder 213), the crank cylinder 214 and the rocker arm 215 are both located on the side of the first bracket 211 away from the second bracket 212 (bottom side), and one end of the crank cylinder 214 is hinged to the first bracket 211, and the other end of the crank cylinder 214 is hinged to the free end of the rocker arm 215.

[0095] like Figure 5 As shown, the second support 212 is annular and has an annular channel 2121. The annular channel 2121 extends through the second support 212 in the vertical direction, and multiple anchor rods 300 pass through the annular channel 2121, with the multiple anchor rods 300 arranged at intervals along the extension direction of the annular channel 2121. The annular channel 2121 has an opening for the anchor rods 300 grasped by the robotic arm 23 to be moved out of the storage rack 21. When the rotating assembly 22 rotates, the multiple anchor rods 300 can move sequentially along the annular channel 2121 to the opening, and the opening can be regarded as the docking point between the rotating assembly 22 and the robotic arm 23.

[0096] In some embodiments, such as Figure 5As shown, the rotating assembly 22 includes a dial 221 and a rotation drive 222. The dial 221 is rotatably mounted on the side of the first bracket 211 facing the second bracket 212. For example, the dial 221 is disc-shaped and can be rotatably mounted on the top side of the first bracket 211. The outer peripheral edge of the dial 221 is provided with multiple slots for the anchor rod 300 to be inserted and secured. During assembly, an anchor rod 300 can be manually installed and secured in each slot. In use, the swing of the robotic arm 23 can push the anchor rod 300 out of the slot, thus facilitating the removal of the anchor rod 300.

[0097] It should be noted that a spring plate can be installed at each slot, which can clamp and fix the anchor rod 300, thus ensuring the fixing effect.

[0098] A rotation drive 222 is located on the side of the first bracket 211 opposite to the second bracket 212, and the rotation drive 222 is used to drive the dial 221 to rotate so that each anchor rod 300 on the dial 221 can move sequentially along the annular channel 2121 to the opening. For example, as Figure 5 As shown, the rotation drive 222 can be a rotary motor. The rotation drive 222 is located on the bottom side of the first bracket 211, and the output shaft of the rotation drive 222 passes through the first bracket 211 and is connected to the dial 221. The rotation drive 222 can drive the dial 221 to rotate, thereby transferring the anchor rods 300 at different positions on the dial 221 to the opening of the annular channel 2121, which facilitates the transfer to the robot arm 23.

[0099] Optionally, two dials 221 can be provided. The other dial 221 can be arranged adjacent to the second bracket 212. The two dials can be connected and fixed by a central shaft. The upper and lower ends of the central shaft can be rotatably assembled with the first bracket 211 and the second bracket 212 respectively. The two dials 221 can be used to lock and fix the anchor rod 300 at two positions, thereby enhancing the stability of the anchor rod 300.

[0100] In some embodiments, the robotic arm 23 includes an actuator and a clamping cylinder 231. The clamping cylinder 231 is rotatably connected to the actuator and is used to drive part of the actuator to swing by extension and retraction to achieve clamping and gripping of the anchor rod 300.

[0101] For example, such as Figure 5As shown, the actuator can be a gripper, which may include a first gripper and a second gripper. The first gripper can be fixedly connected to the cylinder body of the double-rod cylinder 213, and the second gripper can be hinged to the first gripper. One end of the gripping cylinder 231 can be hinged to the first gripper, and the other end of the gripping cylinder 231 can be hinged to the second gripper. In use, the extension and retraction of the gripping cylinder 231 can drive the second gripper to swing, thereby realizing the opening and closing adjustment of the first and second grippers, and thus realizing the gripping and releasing of the anchor rod 300 by the robot arm 23, ensuring the reliability of the operation.

[0102] In some embodiments, as shown in 6, the construction system includes a limit drive 19, which is disposed in the sliding module 13. For example, the limit drive 19 can be a limit cylinder. The limit drive 19 can be fixed in the sliding module 13, and the driving end of the limit drive 19 can move along the front-back direction.

[0103] Both the first sliding seat 171 and the second sliding seat 172 are provided with limiting holes 173. In the first position, the limiting drive 19 engages with the limiting hole 173 on the second sliding seat 172, thereby enabling the connection and fixation of the second sliding seat 172 and the sliding module 13, facilitating the up-and-down movement of the second sliding seat 172 driven by the sliding module 13. When switched to the second position, the limiting drive 19 engages with the limiting hole 173 on the first sliding seat 171, thereby also enabling the connection and fixation of the first sliding seat 171 and the sliding module 13, facilitating the up-and-down movement of the first sliding seat 171 driven by the sliding module 13.

[0104] In some embodiments, the sliding drive 18 is located below the sliding base. The sliding drive 18 is provided with a plurality of pins 181. The first sliding base 171 and the second sliding base 172 are detachably connected to the sliding drive 18 through corresponding pins 181, and each pin 181 extends along a first direction.

[0105] For example, such as Figure 7 As shown, the sliding drive 18 may be provided with two pins 181, both of which can be cylindrical, and the two pins 181 are spaced apart in the second direction, and both pins 181 extend along the vertical direction. The first sliding seat 171 may be integrally formed with a first plug block, and the first plug block may be provided with a first plug hole. The second sliding seat 172 may be integrally formed with a second plug block, and the second plug block may be provided with a second plug hole. The two pins 181 on the sliding drive 18 can be inserted into the first plug hole and the second plug hole respectively.

[0106] When the sliding seat assembly 17 needs to switch between the first and second positions, the two pins 181 are respectively inserted into the corresponding sockets, thereby driving the first sliding seat 171 and the second sliding seat 172 to slide synchronously. Secondly, when the sliding module 13 moves up or down, the pins 181 that are inserted into the first or second socket can automatically disengage or automatically complete the insertion and assembly, thus facilitating the driving connection and automatic separation of the first sliding seat 171 and the second sliding seat 172 from the sliding drive 18, making it convenient to use.

[0107] In some embodiments, the drill rod 141 is provided with a liquid passage hole, which extends axially along the drill rod 141 and is used to supply liquid to the drill bit of the drill rod 141. The inlet of the liquid passage hole can be located at the bottom end of the drill rod 141, and the outlet of the liquid passage hole can be located at the top end of the drill rod 141. When the drill rod 141 is drilling, liquids such as water can be introduced into the liquid passage hole, thereby achieving cooling of the drill bit of the drill rod 141.

[0108] In some embodiments, the construction system includes a module drive, which is mounted on the drill frame 11 and connected to the sliding module 13 to drive the sliding module 13 to slide along a first direction. Specifically, the module drive can be a chain drive, a hydraulic cylinder drive, etc. This facilitates the sliding adjustment of the vertical position of the sliding module 13.

[0109] In some embodiments, such as Figure 6 As shown, the limiting hole 173 is an elongated hole that extends along the first direction, and the two opposite holes of the limiting hole 173 in the first direction are both arc surfaces. The driving end of the limiting drive 19 can be cylindrical. Thus, the length of the limiting hole 173 can play a certain role in compensating for assembly errors and ensuring the stability of the insertion assembly of the limiting drive 19 and the limiting hole 173.

[0110] On the other hand, the arc surface design can increase the contact area between the limit drive 19 and the hole wall of the limit hole 173, thereby improving the stability of the first sliding seat 171 and the second sliding seat 172 in cooperation with the limit drive 19. It also helps to reduce the pressure effect and avoid the reaction force generated during the drilling process being applied to the limit drive 19, which could easily cause damage to the limit drive 19.

[0111] In some embodiments, the output speed of the drilling box 14 is greater than the output speed of the pre-tensioning drilling box 15, and the output torque of the drilling box 14 is less than the output torque of the pre-tensioning drilling box 15. Compared with the requirements of the prior art for high speed and high torque of the drilling box in the operation of anchor bolts in China 300, the present invention achieves the separation of the construction process by setting two drilling boxes, so that high speed and high torque can be applied to different drilling boxes respectively, which helps to reduce the manufacturing cost and difficulty of the drilling boxes.

[0112] In some embodiments, such as Figure 7 As shown, both the sliding module 13 and the drill box base 12 are provided with guide grooves 124. The guide grooves 124 extend along the second direction, and their cross-sections can be circular. When the sliding module 13 is located within the slot, the guide grooves 124 on the sliding module 13 and the guide grooves 124 on the drill box base 12 are connected in the second direction. That is, the guide grooves 124 on the sliding module 13 and the drill box base 12 can be connected into a single through slot, thereby facilitating the switching of the first sliding seat 171 and the second sliding seat 172 on the sliding module 13 and the drill box base 12.

[0113] like Figure 6 As shown, both the first sliding seat 171 and the second sliding seat 172 are provided with guide portions 174. The guide portion 174 can be cylindrical. The guide portion 174 is slidably assembled in the guide groove 124 and is engaged and limited by the guide groove 124. That is, the width dimension of the groove opening of the guide groove 124 is smaller than the radial dimension of the guide portion 174, thereby preventing the guide portion 174 from coming out of the groove opening of the guide groove 124 and improving the structural stability of the assembly.

[0114] In some embodiments, such as Figure 7 As shown, the drill box base 12 includes a first plate 121, two second plates 122 and multiple inclined plates 123. The guide groove 124 of the drill box base 12 is provided on one side of the first plate 121 (which can be the front side). The two second plates 122 are fixed to the other side of the first plate 121 (which can be the rear side), and the two second plates 122 are arranged at intervals in the second direction. The drill frame 11 is fitted between the two second plates 122. The interval between the two second plates 122 can form the above-mentioned slot. At this time, the first plate 121 is also considered to include two independent plate parts. The two independent plate parts are respectively connected to the two second plates 122 one by one, and the slot is also located between the two independent plate parts.

[0115] An inclined plate 123 is disposed on the outside of the two second plates 122 and fixed at the angle formed by the first plate 121 and the second plate 122, and the inclined plate 123 is arranged perpendicular to both the first plate 121 and the second plate 122. The inclined plate 123 can enhance the structural strength, thereby fully meeting the technological requirements of downhole construction.

[0116] In some embodiments, the clamping mechanism 16 further includes a base 161, a driver 163, and a transmission component 164. The base 161 includes a mounting plate 1613, a first protective plate 1611, and a second protective plate 1612. The mounting plate 1613 can be generally flat. During assembly, the mounting plate 1613 can be arranged horizontally and fixed to the top of the anchor bolt 300 drilling rig. The fixing method can be bolts, snap-fit, etc.

[0117] The first protective plate 1611 and the second protective plate 1612 are both fixed to the top side of the mounting plate 1613, and the first protective plate 1611, the second protective plate 1612, and the mounting plate 1613 form an assembly cavity 1614. For example, as Figure 8 and Figure 9 As shown, both the first protective plate 1611 and the second protective plate 1612 can be fixed to the top side of the mounting plate 1613 by bolts. The first protective plate 1611 can be located on the left side of the mounting plate 1613, and the second protective plate 1612 can be located on the right side of the mounting plate 1613. The first protective plate 1611 and the second protective plate 1612 can be arranged at intervals in the left-right direction. The space between the first protective plate 1611 and the second protective plate 1612 can form the assembly cavity 1614. In some other embodiments, the mounting plate 1613, the first protective plate 1611, and the second protective plate 1612 can also be integrally formed.

[0118] The driver 163 is assembled in the assembly cavity 1614, the transmission component 164 is connected to the driver 163, and the first clamp 1621 and the second clamp 1622 are both slidably assembled with the transmission component 164 so as to switch to the first mode or the second mode by sliding assembly when the driver 163 drives the transmission component 164 to move.

[0119] For example, the actuator 163 can be linearly driven, meaning it can extend and retract along the front-to-back direction. The actuator 163 can be fixed within the assembly cavity 1614 and can be mounted and fixed to the mounting plate 1613 using bolts or other fasteners. The transmission component 164 can be fixed to the drive end of the actuator 163, and both the first clamp 1621 and the second clamp 1622 can be slidably assembled with the transmission component 164. In use, the actuator 163 can drive the transmission component 164 to move back and forth. For example, when the transmission component 164 moves forward, both the first clamp 1621 and the second clamp 1622 will swing inward, thereby reducing the opening angle of the first clamp 1621 and the second clamp 1622, allowing the clamp assembly 162 to be adjusted to a first configuration. When the transmission component 164 moves backward, both the first clamp 1621 and the second clamp 1622 will swing outward, thereby increasing the opening and closing angle of the first clamp 1621 and the second clamp 1622, so that the clamp assembly 162 can be adjusted to the second form.

[0120] The clamping mechanism 16 of this invention not only assists in straightening the anchor bolt 300 and drill rod 141, but also allows the drill box to pass through, making switching operations convenient and improving the automation of anchor bolt 300 support construction. Secondly, since the driver 163 is installed inside the assembly cavity 1614, the mounting plate 1613, the first protective plate 1611, and the second protective plate 1612 can shield and conceal the driver 163, thereby protecting it and preventing it from being easily damaged by falling coal gangue, thus improving its stability during use.

[0121] In some embodiments, the transmission member 164 is provided with a sliding groove, the extension direction of which is orthogonal to the direction in which the driver 163 drives the transmission member 164 to move. For example, the driver 163 can drive the transmission member 164 to reciprocate in the front-back direction, and the sliding groove can extend in the left-right direction. The first clamp 1621 is provided with a first sliding pin 16213, which can be integrally formed on the first clamp 1621. The second clamp 1622 is provided with a second sliding pin 16223, which can be integrally formed on the second clamp 1622. Both the first sliding pin 16213 and the second sliding pin 16223 are slidably assembled in the sliding groove. This simplifies the sliding assembly form of the first clamp 1621, the second clamp 1622 and the transmission member 164, and also ensures the structural stability and reliability of the sliding assembly.

[0122] In some embodiments, such as Figure 11 As shown, the actuator 163 is a hydraulic cylinder and includes a drive rod 1631. The transmission member 164 is connected to the front end of the drive rod 1631 and is arranged orthogonally to the drive rod 1631. For example, the transmission member 164 can be a long plate and extend in the left-right direction, and the drive rod 1631 can be a round rod and extend in the front-back direction.

[0123] like Figure 11 As shown, the slide includes a first slide 1641 and a second slide 1642. Both the first slide 1641 and the second slide 1642 can be waist-shaped. The first slide 1641 and the second slide 1642 are arranged at intervals in the left and right direction and both extend along the extension direction (left and right direction) of the transmission member 164. The first sliding pin 16213 is slidably assembled in the first slide 1641 and can rotate relative to it in the first slide 1641. The second sliding pin 16223 is slidably assembled in the second slide 1642 and can rotate relative to it in the second slide 1642.

[0124] Specifically, both the first sliding pin 16213 and the second sliding pin 16223 can be cylindrical, which can reduce the contact area with the slide groove and ensure smooth sliding. On the other hand, the swinging of the first clamp 1621 and the second clamp 1622 will cause the first sliding pin 16213 and the second sliding pin 16223 to rotate in the corresponding slide groove, thereby avoiding interference from the rotation of the sliding pin in the corresponding slide groove.

[0125] In some embodiments, the first clamp 1621 is provided with a first slot 16212, the second clamp 1622 is provided with a second slot 16222, the first clamp 1621 is engaged in the second slot 16222, and the drive rod 1631 and the drive member are engaged in the first slot 16212.

[0126] For example, such as Figure 10 As shown, the first slot 16212 can be provided in the rear half of the first clamp 1621, and the first slot 16212 can penetrate the first clamp 1621 in the left-right direction, with the slot opening facing rearward. Similarly, the second slot 16222 can be provided in the rear half of the second clamp 1622, and the second slot 16222 can penetrate the second clamp 1622 in the left-right direction, with the slot opening facing rearward.

[0127] The rear end of the first clamp 1621 can be rotatably mounted within the second slot 16222, while the drive rod 1631 and the drive component are both located within the first slot 16212 and the second slot 16222. This design serves two purposes: firstly, it conceals and hides the drive rod 1631 and the drive component, thus providing protection; secondly, it allows the drive rod 1631 and the drive component to utilize the space within the first clamp 1621 and the second clamp 1622, improving the compactness of the structural assembly and ensuring structural strength.

[0128] In some embodiments, the clamping mechanism 16 includes a first pin 165 and a second pin 166, which are coaxially arranged. The first clamp 1621 and the second clamp 1622 on one side of the first slot 16212 are rotatably connected to one of the first guard plate 1611 and the second guard plate 1612 via the first pin 165. The first clamp 1621 and the second clamp 1622 on the other side of the first slot 16212 are rotatably connected to the mounting plate 1613 via the second pin 166.

[0129] For example, such as Figure 11As shown, in the vertical direction, the portions of the first clamps 1621 on both the upper and lower sides of the first slot 16212 can form first arms, and the first slot 16212 is formed between the two first arms. Similarly, the portions of the second clamps 1622 on both the upper and lower sides of the second slot 16222 can form second arms, and the second slot 16222 is formed between the two second arms.

[0130] The first pin 165 can pass through the first guard plate 1611, the first arm on the upper side of the first clamp 1621, and the second arm on the upper side of the second clamp 1622, enabling pivotal assembly of the three. The second pin 166 can pass through the mounting plate 1613, the first arm on the lower side of the first clamp 1621, and the second arm on the lower side of the second clamp 1622, also enabling pivotal assembly of the three. This avoids interference between the pins and the driving components and the driving rod 1631, improving assembly convenience.

[0131] In some embodiments, such as Figure 8 As shown, the first guard plate 1611 can be integrally formed with an extension 16111, which extends toward the second guard plate 1612. For example, the extension 16111 can generally extend in a left-right direction and can be positioned horizontally at the top opening of the mounting cavity 1614. The first pin 165 passes through the upper first arm of the first clamp 1621 and the upper second arm of the second clamp 1622 and is pivotally connected to the extension 16111. The extension 16111 improves the ease of installation.

[0132] In some embodiments, the included angle formed by the first clamp 1621 and the second clamp 1622 in the second configuration is greater than the opening angle of the first clamp 1621 and the second clamp 1622 in the first configuration, and in the second configuration, the transmission member 164 abuts against at least one of the bottom of the first slot 16212 and the bottom of the second slot 16222 to limit the upper limit of the opening angle of the first clamp 1621 and the second clamp 1622 in the second configuration.

[0133] For example, such as Figure 10 As shown, in the second configuration, the outer edge of the bottom of the second slot 16222 can abut against the front surface of the transmission component 164, thereby preventing the second clamp 1622 from continuing to swing to the right, and thus limiting the swing of the first clamp 1621 to the left. This avoids the situation where the opening and closing angle of the first clamp 1621 and the second clamp 1622 is too large and it is easy to generate a dead point, thus ensuring the stability of use.

[0134] In some other embodiments, in the second configuration, the transmission member 164 can simultaneously engage with the first clamp 1621 and the second clamp 1622.

[0135] In some embodiments, the projection of the first clamp 1621 on the mounting plate 1613 and the projection of the second clamp 1622 on the mounting plate 1613 are both V-shaped, and the bends of the first clamp 1621 and the second clamp 1622 are arranged opposite to each other.

[0136] For example, such as Figure 8 and Figure 9 As shown, the rear half of the first clamp 1621 can extend in the front-rear direction, and the front half of the first clamp 1621 can generally extend in the direction from left front to right rear. The rear half of the second clamp 1622 can extend in the front-rear direction, and the front half of the second clamp 1622 can generally extend in the direction from right front to left rear. The assembly cavity 1614 can be formed between the rear half of the first clamp 1621 and the rear half of the second clamp 1622. The front and rear ends of the first clamp 1621 and the second clamp 1622 can be fixed by bolts.

[0137] This design allows for a wide and relatively balanced distribution of fastening forces, thereby improving the overall structural stability.

[0138] In some embodiments, in a first configuration, the end face of the slot opening of the first slot 16211 and the end face of the slot opening of the second slot 16221 are attached together to form an interface 1623, and the interface 1623 is not perpendicular to the sliding direction of the sliding assembly and the driving direction of the driver 163.

[0139] Specifically, such as Figure 8 As shown, the interface 1623 of the first clamp 1621 and the second clamp 1622 in the first configuration can be shown as a dashed line. The interface 1623 can be arranged at an angle from right front to left rear. As a result, the direction of the force at the interface 1623 and the direction of the force applied by the driver 163 to the transmission member 164 form an angle, realizing the cross arrangement of different forces, which is conducive to interlocking and enhancing the clamping effect on the anchor rod 300 and the drill rod 141.

[0140] The construction system of this invention has the following beneficial effects:

[0141] (1) The device of this invention is used in conjunction with a hollow anchor injection integrated anchor rod, which reduces the traditional anchor rod operation process of 6 steps (drilling - unloading drill rod - installing anchoring agent - installing anchor rod and tray - mixing anchoring agent and pre-tightening) to 4 steps (drilling - installing anchor rod 300 and tray - pumping anchoring agent - pre-tightening), simplifies the process of removing drill rod and applying anchoring agent, realizes full automation of anchor rod operation, requires no manual intervention, and improves the automation level and operation efficiency of anchor rod operation;

[0142] (2) The drill rod is always fixedly connected to the drilling box, avoiding processes such as putting on and taking off the drill rod, and realizing the automation of the drilling process;

[0143] (3) The process of pump injection of anchoring agent avoids the problem of manual application of the agent roll, and improves the automation level and efficiency of anchor bolt operation.

[0144] (4) Traditional anchor bolting processes require high rotation speed and high torque from the drill box. In this invention, the construction process is split into two drill boxes. One drill box achieves high rotation speed, and the other drill box achieves high torque, which reduces the manufacturing cost and difficulty of the drill box.

[0145] (5) The design scheme of two drilling boxes, one drilling box is responsible for drilling and the other drilling box is responsible for grouting and pre-tightening, which avoids the problems of complex structure and low reliability of the integrated anchoring and grouting drilling box. The two drilling box schemes reduce the structural complexity of the drilling box and improve the reliability of the equipment by process separation.

[0146] (6) The clamping mechanism adopts a direct-push sliding mechanism (which can be regarded as the assembly of the driver and transmission components). It can achieve the control of the large-angle opening and closing of the left and right clamps through the small displacement sliding in the groove of the special-shaped oil cylinder, so as to meet the direct passage of the large tray and the drill box, and also play the role of straightening the drill rod in the early stage of drilling.

[0147] 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 are not intended to 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.

[0148] 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.

[0149] 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.

[0150] 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.

[0151] 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.

[0152] 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 anchor-grouting integrated anchor rod automatic construction system, characterized in that, include: The drilling rig assembly includes a drill frame, a drill box base, a sliding module, a drilling drill box, a pre-tightening drill box, a sliding seat assembly, and a sliding drive. The drill box base is fixed to the drill frame, and the drill box base has a slot in the middle. The sliding module is fitted into the slot and slides along the first direction to be assembled to the drill frame. The drilling box is fixed with a drill rod for drilling. The pre-tightening drill box is used to feed and pre-tighten the anchor rod into the drill hole. The anchor rod has at least two channels for conveying different types of anchoring agent components into the drill hole. The sliding seat assembly has a first position and a second position. The sliding seat assembly is slidably mounted on the drill box base along a second direction orthogonal to the first direction. The sliding drive is provided on the drill box base and is used to drive the sliding seat assembly to switch back and forth between the first position and the second position. The sliding seat assembly includes a first sliding seat and a second sliding seat. The drilling box is installed on the first sliding seat, and the pre-tightening drilling box is installed on the second sliding seat. In the first position, the second sliding seat cooperates with the sliding module and can slide synchronously with the sliding module along the first direction. In the second position, the first sliding seat cooperates with the sliding module and can slide synchronously with the sliding module along the first direction. An anchor bolt magazine assembly, the anchor bolt magazine assembly including a magazine frame, a rotating assembly and a robotic arm; The bin frame is fixedly connected to the drill frame. The rotating assembly stores a plurality of anchor rods arranged at circumferential intervals along the rotating assembly. The rotating assembly is rotatably mounted on the bin frame and sends each anchor rod to the docking point with the manipulator by rotation. The manipulator is located on the bin frame and is used to grasp the anchor rod located at the docking point and send the anchor rod to the pre-tightening drill box located at the first position. The rack includes: The first support and the second support are both fixedly connected to the drill frame, and the first support and the second support are arranged at intervals in the first direction. A double-rod hydraulic cylinder, wherein the two piston rods of the double-rod hydraulic cylinder are respectively connected to the first bracket and the second bracket, and the manipulator is mounted on the cylinder body of the double-rod hydraulic cylinder; The crank cylinder has a rocker arm at its end. One end of the crank cylinder is rotatably connected to one of the first support and the second support, and the other end of the crank cylinder is rotatably connected to the rocker arm. The crank cylinder drives the double-outlet cylinder and the manipulator to swing through the rocker arm so that the manipulator can send the anchor rod grabbed from the docking point to the pre-tightening drill box. The drilling rig assembly includes a clamping mechanism disposed on the drill frame and arranged opposite to the sliding module in the first direction. The clamping mechanism has two clamps, and the angles of the two clamps can be adjusted to allow the clamping mechanism to have a first form and a second form. The opening angle of the clamping mechanism in the second form is greater than the opening angle in the first form. In the first form, the clamping mechanism is used to straighten the drill rod or the anchor rod. In the second form, the clamping mechanism allows the drilling box or the pre-tightening drilling box to pass through.

2. The anchor-grouting integrated anchor rod automatic construction system according to claim 1, characterized in that, The first bracket is located adjacent to the drill box base, the rocker arm is located at the end of the double rod cylinder facing the first bracket, the crank cylinder and the rocker arm are both located on the side of the first bracket away from the second bracket, and one end of the crank cylinder is hinged to the first bracket, and the other end of the crank cylinder is hinged to the free end of the rocker arm. The second support is annular and has an annular channel through which multiple anchor rods pass. The annular channel has an opening for the anchor rods being grasped by the robotic arm to be removed from the frame. When the rotating assembly rotates, the multiple anchor rods can move sequentially along the annular channel to the opening.

3. The anchor-grouting integrated anchor rod automatic construction system according to claim 2, characterized in that, The rotating assembly includes: A dial is rotatably mounted on the side of the first bracket facing the second bracket. The outer peripheral edge of the dial is provided with multiple slots for inserting anchor rods and securing them in place. A rotation drive is provided on the side of the first bracket away from the second bracket, and the rotation drive is used to drive the dial to rotate so that each of the anchor rods on the dial can move sequentially along the annular channel to the opening.

4. The automatic construction system for integrated anchoring and grouting anchor bolts according to claim 1, characterized in that, The robotic arm includes an actuator and a clamping cylinder. The clamping cylinder is rotatably connected to the actuator and is used to swing part of the actuator by extension and retraction to clamp and grasp the anchor rod.

5. The automatic construction system for integrated anchoring and grouting anchor bolts according to claim 1, characterized in that, The clamping mechanism includes: The base includes a mounting plate, a first protective plate, and a second protective plate. The mounting plate is used to fix the base to the top of the drill frame. The first protective plate and the second protective plate are both fixed to the top side of the mounting plate, and the first protective plate, the second protective plate, and the mounting plate form an assembly cavity. A driver and a transmission component, wherein the driver is assembled in the assembly cavity, the transmission component is connected to the driver, and both clamps are slidably assembled with the transmission component to switch to the first or the second configuration via the slid assembly when the driver drives the transmission component to move.

6. The automatic construction system for integrated anchoring and grouting anchor bolts according to claim 5, characterized in that, The transmission component is provided with a first slide groove and a second slide groove. The first slide groove and the second slide groove are arranged at intervals and both extend along the extension direction of the transmission component. The driver includes a drive rod. The transmission component is connected to the drive rod and arranged orthogonally to the drive rod. The first clamp is provided with a first sliding pin, and the second clamp is provided with a second sliding pin. The first sliding pin is slidably assembled in the first slide groove and can rotate relative to it in the first slide groove. The second sliding pin is slidably assembled in the second slide groove and can rotate relative to it in the second slide groove.

7. The automatic construction system for integrated anchoring and grouting of anchor bolts according to claim 1, characterized in that, It includes a limit drive and a module drive. The limit drive is located on the sliding module. Both the first sliding seat and the second sliding seat are provided with limit holes. In the first position, the limit drive is limited to the limit hole on the second sliding seat. In the second position, the limit drive is limited to the limit hole on the first sliding seat. The module driver is located on the drill frame, and the module driver is connected to the sliding module and is used to drive the sliding module to slide along the first direction.

8. The automatic construction system for integrated anchoring and grouting anchor bolts according to any one of claims 1-7, characterized in that, The sliding drive is located below the first sliding seat and the second sliding seat. The sliding drive is provided with a plurality of pins. The first sliding seat and the second sliding seat are detachably connected to the sliding drive through corresponding pins, and each pin extends along the first direction. And / or, the output speed of the drilling rig is greater than the output speed of the pre-tightening drilling rig, and the output torque of the drilling rig is less than the output torque of the pre-tightening drilling rig.

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