An anchor drilling and injecting integrated machine

Abstract

The application discloses an anchor drilling and grouting integrated machine, and relates to the field of tunnel engineering equipment, which comprises a drilling mechanism, an anchor grouting mechanism, a bracket, a rotating part and a switching hydraulic cylinder, the drilling mechanism and the anchor grouting mechanism are arranged in parallel on the bracket, and the switching hydraulic cylinder can drive the bracket to rotate on the rotating part to realize position switching of the drilling mechanism and the anchor grouting mechanism at a regulated position; the drilling mechanism can automatically complete the work of drill rod lengthening, drilling and drill rod disassembly through the cooperation of a rock drill, a first clamping device, a second clamping device and a drill rod manipulator; the anchor grouting mechanism can automatically complete online assembly and installation of anchor rods and online grouting through the cooperation of a third clamping device, an anchor grouting device and an anchor rod manipulator; the anchor drilling and grouting integrated machine can automatically complete the whole process of drill rod lengthening, drilling, drill rod disassembly, anchor rod assembly, anchor rod installation and grouting in tunnel anchoring construction, and can effectively improve construction efficiency and ensure construction quality.

Description

Technical Field

[0001] This invention relates to the field of tunnel engineering equipment, specifically to an integrated anchor drilling and injection machine. Background Technology

[0002] In tunnel construction, anchor bolts are needed to stabilize and reinforce the surrounding rock. Current technology typically involves first laying out holes according to the construction drawings, then drilling anchor bolt holes in the surrounding rock at the designated locations. Next, hollow anchor bolts are extended and installed into the anchor bolt holes using anchor bolt installation equipment. Finally, grouting pipes are installed at the ends of the anchor bolts for grouting. This method requires operating different construction equipment in batches to complete drilling, anchor bolt installation, and grouting, resulting in low construction efficiency. Furthermore, due to the large number of anchor bolts to be installed and grouted in tunnel anchoring construction, situations such as missing anchor bolts or insufficient grouting often occur during the process.

[0003] In actual tunnel construction, to ensure the anchoring effect of the surrounding rock, it is necessary to drill deep anchor holes and install long anchor rods. However, due to the limitations of the tunnel's internal dimensions and the requirement to ensure drilling accuracy, the drilling range of the drilling equipment and the travel range of the anchor rod installation equipment are restricted. Construction in the tunnel also involves extending the drill rod and anchor rod. When the drill rod is removed after drilling, it is necessary to disassemble the extended drill rod into sections. In the existing technology, the extension work of the drill rod and anchor rod, as well as the disassembly work when removing the drill rod, all require manual intervention. Since there are a large number of anchor holes and anchor rods, the construction requires a lot of manpower, the labor intensity is high, and it also affects the construction efficiency.

[0004] In addition, to facilitate the installation of anchor bolts, the diameter of the anchor bolt holes drilled during design and construction is usually larger than the diameter of the anchor bolt. In the current construction method, after the anchor bolts are installed, they are placed directly into the anchor bolt holes. During grouting, the anchor bolts are not effectively positioned, and the anchor bolt axis is very easy to deviate from the center line of the anchor bolt hole. It is difficult to ensure the accuracy of the position of the anchor bolts and grout after grouting, which affects the overall quality of the anchoring construction.

[0005] Overall, existing technologies require a significant investment of manpower and various equipment for anchoring construction within tunnels. The conversion of equipment and the need for manual intervention have a substantial impact on construction efficiency. Furthermore, issues such as anchor bolt misalignment within the anchor bolt hole during grouting, as well as instances of missing anchor bolts or insufficient grouting, also severely affect construction quality. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide an integrated anchor drilling and grouting machine that can automatically complete the entire process of drill rod extension, drilling, drill rod removal and disassembly, anchor rod assembly, anchor rod installation, and grouting, which can effectively improve construction efficiency and ensure construction quality.

[0007] The objective of this invention is achieved through the following technical solution: An integrated anchor drilling and injection machine includes a drilling mechanism, an anchor injection mechanism, a bracket, a rotating part, and a switching hydraulic cylinder; The drilling mechanism includes a drilling propulsion beam, a rock drill, a first clamping device, a second clamping device, and several drill rod manipulators. The first clamping device is fixedly mounted on the front end of the drilling propulsion beam and includes two symmetrically arranged clamping heads with a clamping area between them. The two clamping heads can move closer together or further apart. The second clamping device has the same structure as the first clamping device and is rotatably connected to the drilling propulsion beam. The clamping area of ​​the second clamping device is directly opposite the clamping area of ​​the first clamping device. The rotation axis of the second clamping device on the drilling propulsion beam is substantially coincident with the center line of the clamping area. The rock drill is slidably mounted on the drilling propulsion beam, and the output end of the rock drill is sequentially aligned with the clamping heads of the second clamping devices. The drill rod manipulator includes a mounting base, a swing arm, a swing hydraulic cylinder, a fixed chuck, a movable chuck, and a clamping hydraulic cylinder. The mounting base is fixedly connected to the drilling propulsion beam. The swing arm is rotatably connected to the mounting base. Both ends of the swing hydraulic cylinder are rotatably connected to the swing arm and the mounting base, respectively. The fixed chuck is fixedly mounted on the swing arm. The movable chuck is rotatably connected to the swing arm. Both ends of the clamping hydraulic cylinder are rotatably connected to the movable chuck and the swing arm, respectively. Several drill rod manipulators are arranged side by side in a straight line on one side of the drilling propulsion beam. The clamping hydraulic cylinder can drive the movable chuck to move towards the fixed chuck. The swing hydraulic cylinder can drive the swing arm to swing, causing the fixed chuck and the movable chuck to move between the second clamping device and the rock drill. The anchoring mechanism includes an anchoring propulsion beam, a third clamping device, an anchoring device, and several anchoring manipulators. The third clamping device has the same structure as the first clamping device and is fixedly mounted on the front end of the anchoring propulsion beam. The anchoring device includes a housing, a drive motor, gear A, and gear B. The housing is slidably mounted on the anchoring propulsion beam. A connecting pipe and a drive shaft are rotatably mounted inside the housing. One end of the connecting pipe extends out of the housing and is connected to a rotary joint, while the other end extends out of the housing and is threaded. Gears A and B are both mounted on... Inside the housing, gear A is fixedly sleeved on the connecting pipe, and gear B is fixedly sleeved on the transmission shaft. Gear A and gear B mesh. The output end of the drive motor is fixedly connected to one end of the transmission shaft. The end of the connecting pipe with the connecting thread is positioned opposite the clamping area of ​​the third clamping device. The structure of the anchor bolt manipulator is the same as that of the drill rod manipulator. Several anchor bolt manipulators are installed side by side in a straight line on one side of the anchor injection propulsion beam. The swing hydraulic cylinder of the anchor bolt manipulator can drive its fixed chuck and moving chuck to move between the third clamping device and the anchor injection device. The drilling propulsion beam and the anchoring propulsion beam are arranged parallel to each other on the bracket. The output end of the rock drill and the threaded end of the connecting pipe in the anchoring device face the same direction. The bracket is rotatably connected to the rotating part. The distance between the center line of the output shaft of the rock drill and the rotation center line of the bracket on the rotating part is the same as the distance between the center line of the connecting pipe and the rotation center line of the bracket on the rotating part. The two ends of the switching hydraulic cylinder are rotatably connected to the bracket and the rotating part, respectively.

[0008] Furthermore, the first clamping device includes a cylinder body, the cylinder body having piston chambers opened from both ends toward the center, both ends of the cylinder body being fixedly connected to end caps, pistons being slidably arranged in the piston chambers, a piston rod being fixedly connected to the end of the piston away from the end cap, the piston rod being slidably adapted to the cylinder body, the other end of the piston rod being fixedly connected to the clamping head, and a through hole being opened in the middle of the cylinder body, the through hole being positioned directly opposite the clamping area.

[0009] Furthermore, the cylinder body is provided with a first oil port and a second oil port, a rodless chamber is formed between the piston and the end cap, and a rod chamber is formed on the other side of the piston. The first oil port is connected to both rodless chambers, and the second oil port is connected to both rod chambers.

[0010] Furthermore, it also includes a base, a rotating seat, and a loosening hydraulic cylinder. The base is fixedly connected to the drilling propulsion beam, the rotating seat is rotatably connected to the base, the second clamping device is fixedly installed on the rotating seat, and the two ends of the loosening hydraulic cylinder are rotatably connected to the rotating seat and the base, respectively.

[0011] Furthermore, the anchoring mechanism also includes an anchor cylinder, which includes an upper rod motor, a main shaft, several outer chucks, and several inner chucks. Each outer chuck includes a support plate and an arc plate. One end of the support plate is fixedly connected to the anchoring propulsion beam, and the other end of the support plate is circular with a connecting hole machined at its center. One end of the arc plate is connected to the support plate, and a closed arc-shaped groove is formed between the arc plate and the circular end of the support plate. The open end of the arc-shaped groove is adapted to the anchoring manipulator. The main shaft is rotatably mounted within the connecting holes of the outer chucks, and the output end of the upper rod motor is fixedly connected to one end of the main shaft. Each inner chuck is fixedly sleeved on the main shaft, and several slots are distributed on the circumference of each inner chuck, which are adapted to the arc-shaped groove.

[0012] Furthermore, the anchoring mechanism also includes an anchoring compensation hydraulic cylinder, the anchoring propulsion beam is slidably mounted on the bracket, the two ends of the anchoring compensation hydraulic cylinder are respectively connected to the anchoring propulsion beam and the bracket, the sliding direction of the anchoring propulsion beam on the bracket is the same as the sliding direction of the anchoring device on the anchoring propulsion beam, and an anchoring top cone is provided at the front end of the anchoring propulsion beam.

[0013] Furthermore, the drilling mechanism also includes a drilling compensation hydraulic cylinder, the drilling propulsion beam is slidably mounted on the bracket, the two ends of the drilling compensation hydraulic cylinder are respectively connected to the drilling propulsion beam and the bracket, the sliding direction of the drilling propulsion beam on the bracket is the same as the sliding direction of the rock drill on the drilling propulsion beam, and a drilling top cone is provided at the front end of the drilling propulsion beam.

[0014] Furthermore, a spindle is fixedly mounted on the rotating part, the bottom of the bracket is rotatably sleeved on the spindle, and a main top cone is fixedly mounted on the front end of the spindle.

[0015] Furthermore, the rotating part includes a bracket connecting seat, a double rotating seat, and a carrier connecting seat, with the mandrel fixedly mounted on the bracket connecting seat; the double rotating seat includes a seat body and two rotating devices, each rotating device including a housing, with a worm gear and a worm rotatably mounted inside the housing, the worm gear meshing with the worm, a rotating motor fixedly mounted on the housing, and the output shaft of the rotating motor fixedly connected to one end of the worm; the housing of one rotating device is fixedly connected to the carrier connecting seat, and its worm gear is fixedly connected to the bottom surface of the seat body; the housing of the other rotating device is fixedly connected to the side of the seat body, and its worm gear is fixedly connected to the bracket connecting seat.

[0016] Furthermore, it also includes a tracked vehicle, which is equipped with a pitch telescopic boom, and the vehicle connecting seat is fixedly connected to the front end of the pitch telescopic boom.

[0017] The beneficial effects of this invention are: The integrated anchor drilling and grouting machine includes a drilling mechanism, an anchor grouting mechanism, a bracket, a rotating part, and a switching hydraulic cylinder. The drilling mechanism and the anchor grouting mechanism are arranged in parallel on the bracket. The switching hydraulic cylinder can drive the bracket to rotate on the rotating part. The distance between the drilling center line of the drilling mechanism and the rotation center line of the bracket on the rotating part is the same as the distance between the anchor rod advance center line of the anchor grouting mechanism and the rotation center line of the bracket on the rotating part. Therefore, the switching hydraulic cylinder can switch the positions of the drilling mechanism and the anchor grouting mechanism at a set position. The drilling mechanism can automatically complete the work of drill rod extension, drilling, and drill rod disassembly through the coordinated action of the rock drill, the first clamping device, the second clamping device, and the drill rod manipulator. The anchor grouting mechanism can automatically complete the online assembly and installation of anchor rods and online grouting through the coordinated action of the third clamping device, the anchor grouting device, and the anchor rod manipulator. Therefore, this integrated anchor drilling and grouting machine can automatically complete the entire process of drill rod extension, drilling, drill rod removal and disassembly, anchor rod assembly, anchor rod installation, and grouting in tunnel anchoring construction. The entire process requires no manual intervention and minimal manpower, reducing labor intensity. Compared to existing technologies, the absence of equipment conversion and extensive manual intervention significantly improves construction efficiency. Using this integrated machine, drilling, anchor rod installation, and grouting can be completed in one go for each hole, preventing missed anchor rod installations or grouting. Furthermore, the online installation and online grouting method ensures effective support and positioning of the anchor rod within the anchor hole, preventing anchor rod displacement and effectively improving construction quality. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of an integrated anchor drilling and injection machine according to the present invention; Figure 2 This is a schematic diagram of the assembly structure of the bracket and rotary seat in an integrated anchor drilling and injection machine of the present invention; Figure 3 This is a schematic diagram of the drilling mechanism in an integrated anchor drilling and injection machine of the present invention; Figure 4 This is a schematic diagram of the internal structure of the first clamping device, the second clamping device, and the third clamping device in an integrated anchor drilling and injection machine of the present invention. Figure 5 This is a schematic diagram of the structure of the drill rod manipulator and the anchor rod manipulator in the anchor drilling and injection integrated machine of the present invention; Figure 6 This is a schematic diagram of the anchoring mechanism in an integrated anchor drilling and injection machine of the present invention; Figure 7 for Figure 6 A schematic diagram of the internal structure of the anchoring device in the anchoring mechanism is shown. Figure 8 for Figure 6 The diagram shows the structure of the anchor bolt chamber in the anchoring mechanism. Figure 9 for Figure 8 The diagram shows the structure of the outer chuck in the bolt chamber. Figure 10 for Figure 8 The diagram shows the structure of the inner chuck in the bolt chamber. Figure 11 for Figure 3 A schematic diagram of the installation structure of the second clamping device in the drilling mechanism shown; Figure 12 This is a schematic diagram of the rotating part in an integrated anchor drilling and injection machine of the present invention; Figure 13 for Figure 12 A schematic diagram of the double rotary seats in the rotating part is shown; Figure 14 for Figure 13 A schematic diagram of the rotating device in the double rotary seat is shown. Figure 15 This is a schematic diagram of the usage state of the anchor drilling and injection integrated machine of the present invention; In the diagram, 100-drilling mechanism, 110-drilling propulsion beam, 120-rock drill, 130-first clamping device, 131-clamping head, 132-clamping area, 133-cylinder body, 134-end cap, 135-piston, 136-piston rod, 137-first oil port, 138-second oil port, 140-second clamping device, 141-base, 142-rotating seat, 143-loosening hydraulic cylinder, 144-slider, 150-drill rod manipulator, 151-mounting seat, 152-swing arm, 153-swinging hydraulic cylinder, 154-fixed chuck, 155-moving chuck, 156-clamping hydraulic cylinder, 160-drilling compensation hydraulic cylinder, 170-drilling tip cone, 200-anchoring mechanism, 210-anchoring propulsion beam, 220-third clamping device, 230-anchoring device. 231-Housing, 232-Drive motor, 233-Gear A, 234-Gear B, 235-Connecting pipe, 236-Drive shaft, 237-Rotary joint, 240-Anchor bolt manipulator, 250-Anchor bolt chamber, 251-Mount upper motor, 252-Main shaft, 253-Outer chuck, 2531-Support plate, 2532-Arc plate, 2533-Arc-shaped slide groove, 254-Inner chuck, 2541-Slot. 260-Anchoring compensation hydraulic cylinder, 270-Anchoring jack cone, 300-Bracket, 310-Switching hydraulic cylinder, 400-Rotating part, 410-Main jack cone, 420-Mandrel, 430-Bracket connecting seat, 440-Carrier connecting seat, 450-Double slewing seat, 451-Seat body, 452-Box body, 453-Worm gear, 454-Worm, 455-Rotating motor, 500-Crawler vehicle, 510-Pitch telescopic boom. Detailed Implementation

[0019] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings, but the scope of protection of the present invention is not limited to the following description.

[0020] like Figures 1 to 14 As shown, an integrated anchor drilling and injection machine includes a drilling mechanism 100, an anchor injection mechanism 200, a bracket 300, a rotating part 400, and a switching hydraulic cylinder 310.

[0021] The structure of the drilling mechanism 100 is as follows: Figures 3 to 5 As shown, it includes a drilling propulsion beam 110, a rock drill 120, a first clamping device 130, a second clamping device 140, and several drill rod manipulators 150. The first clamping device 130 is fixedly mounted on the front end of the drilling propulsion beam 110, as shown below. Figure 4As shown, the first clamping device 130 includes two symmetrically arranged clamping heads 131, and a clamping area 132 is formed between the two clamping heads 131. The two clamping heads 131 can approach each other or move away from each other. When the two clamping heads 131 approach each other, they can clamp the drill rod for use in the extension of the drill rod and disassembly work when removing the drill rod. The second clamping device 140 has the same structure as the first clamping device 130. The second clamping device 140 is rotatably connected to the drilling propulsion beam 110. The clamping area 132 of the second clamping device 140 is set opposite to the clamping area 132 of the first clamping device 130. The rotation axis of the second clamping device 140 on the drilling propulsion beam 110 is basically coincident with the center line of its clamping area 132. When removing the drill rod, the first clamping device 130 and the second clamping device 140 clamp the front and rear drill rods respectively (the two drill rods are connected by threads). Then, the second clamping device 140 can be rotated to loosen the connecting threads of the two drill rods, which facilitates the subsequent disassembly of the drill rods under the drive of the rock drill 120 (see the following description). The rock drill 120 is slidably mounted on the drilling propulsion beam 110. The output end of the rock drill 120 is connected to the drill rod via a thread. The rock drill 120 is used to carry out the drilling process through the combined action of its own rotation and sliding on the drilling propulsion beam 110. The output end of the rock drill 120 is sequentially aligned with the clamping area 132 of the second clamping device 140 and the clamping area 132 of the first clamping device 130. The rock drill 120, in cooperation with the two clamping devices, can complete the extension and disassembly of the drill rod (see details below). The drill pipe manipulator 150 includes a mounting base 151, a swing arm 152, a swing hydraulic cylinder 153, a fixed chuck 154, a movable chuck 155, and a clamping hydraulic cylinder 156. The mounting base 151 is fixedly connected to the drilling propulsion beam 110. The swing arm 152 is rotatably connected to the mounting base 151. Both ends of the swing hydraulic cylinder 153 are rotatably connected to the swing arm 152 and the mounting base 151, respectively. The fixed chuck 154 is fixedly mounted on the swing arm 152. The movable chuck 155 is rotatably connected to the swing arm 152. Both ends of the clamping hydraulic cylinder 156 are rotatably connected to the movable chuck 155 and the swing arm 152, respectively. Several drill rod manipulators 150 are arranged in a straight line on one side of the drilling propulsion beam 110. Their clamping hydraulic cylinders 156 can drive the movable chuck 155 to move towards the fixed chuck 154 to clamp the drill rod. Their swing hydraulic cylinders 153 can drive the swing arm 152 to swing so that the fixed chuck 154, the movable chuck 155 and the clamped drill rod move between the second clamping device 140 and the rock drill 120.

[0022] like Figures 4 to 7As shown, the anchoring mechanism 200 includes an anchoring propulsion beam 210, a third clamping device 220, an anchoring device 230, and several anchoring manipulators 240. The third clamping device 220 has the same structure as the aforementioned first clamping device 130. The third clamping device 220 is fixedly mounted at the front end of the anchoring propulsion beam 210. When its two clamping heads 131 approach each other, it can clamp the anchor rod, used to fix the front section of the anchor rod when it is extended, and also used for positioning the front section of the anchor rod during the grouting process (see later description). Figure 7 As shown, the anchoring device 230 includes a housing 231, a drive motor 232, gear A 233, and gear B 234. The housing 231 is slidably mounted on the anchoring propulsion beam 210. A connecting pipe 235 and a drive shaft 236 are rotatably mounted inside the housing 231. One end of the connecting pipe 235 extends out of the housing 231 and is connected to a rotary joint 237. The other end of the connecting pipe 235 extends out of the housing 231 and is threaded. Gears A 233 and B 234 are both mounted on... Inside the housing, gear A233 is fixedly sleeved on the connecting pipe 235, and gear B234 is fixedly sleeved on the drive shaft 236. Gear A233 meshes with gear B234. The output end of the drive motor 232 is fixedly connected to one end of the drive shaft 236. The drive motor 232 can drive the connecting pipe 235 to rotate through the drive shaft 236, gear B234, and gear A233. The end of the connecting pipe 235 with the connecting thread is set directly opposite the clamping area 132 of the third clamping device 220. The structure of the aforementioned anchor bolt manipulator 240 is the same as that of the aforementioned drill rod manipulator 150. Several anchor bolt manipulators 240 are installed side by side in a straight line on one side of the anchor injection propulsion beam 210. The clamping hydraulic cylinder 156 of the anchor bolt manipulator 240 can drive its movable chuck 155 to move towards the fixed chuck 154 to clamp the anchor bolt. The swing hydraulic cylinder 153 of the anchor bolt manipulator 240 can drive its fixed chuck 154 and movable chuck 155 to move between the third clamping device 220 and the anchor injection device 230.

[0023] The aforementioned drilling propulsion beam and anchoring propulsion beam are arranged in parallel on the bracket. The output end of the rock drill 120 and the threaded end of the connecting pipe 235 in the anchoring device face the same direction. The bracket 300 is rotatably connected to the rotating part 400. The distance between the center line of the output shaft of the rock drill 120 and the rotation center line of the bracket 300 on the rotating part 400 is the same as the distance between the center line of the connecting pipe 235 and the rotation center line of the bracket 300 on the rotating part 400. The two ends of the switching hydraulic cylinder 310 are rotatably connected to the bracket 300 and the rotating part 400, respectively.

[0024] Taking the example of an embodiment where two drill rods need to be extended during drilling and two anchor rods need to be extended during anchoring, the construction process of this integrated anchor drilling and grouting machine for each hole location is as follows: S1. Construction preparation: Install the front section of the drill rod on the output end of the rock drill 120, clamp the rear section of the drill rod on the drill rod manipulator 150, install the front section of the anchor rod on the connecting pipe 235, connect the external slurry mixing equipment to the rotary joint 237 on the connecting pipe 235, clamp the rear section of the anchor rod on the anchor rod manipulator 240, transport the integrated anchor drilling and injection machine to the designed hole layout position through the carrier, and adjust its overall orientation so that the rock drill 120 is facing the drilling direction of the hole position; S2. Start the rock drill 120 to rotate forward and slide the rock drill 120 forward on the drilling propulsion beam 110 to complete the drilling process of the front section of the drill rod; S3. After the drilling of the front section of the drill pipe is completed, the two clamping heads of the first clamping device 130 come together to clamp the tail end of the front section of the drill pipe. S4. Reverse the rock drill 120, loosen the threaded connection between the rock drill 120 and the front drill rod, and then slide the rock drill 120 back on the drilling propulsion beam 110. S5. The piston rod of the swing hydraulic cylinder 153 in each drill rod manipulator 150 extends and moves the clamped rear section of the drill rod to be aligned with the output end of the rock drill 120. S6. The rock drill 120 slides forward until its output end abuts against the tail end of the rear section of the drill rod, and then the rock drill 120 rotates forward to connect its output end with the threaded connection of the rear section of the drill rod. S7. The piston rod of the hydraulic cylinder 156 in the drill rod manipulator 150 retracts, and its fixed chuck 154 and moving chuck 155 separate. The rock drill 120 continues to advance forward and connects the tail end of the front section of the drill rod and the front end of the rear section of the drill rod by a threaded connection through forward rotation. S8. The two clamping heads 131 of the first clamping device 130 separate to release the tail end of the front section of the drill rod. The piston rod of the swing hydraulic cylinder 153 in the drill rod manipulator 150 retracts to move the fixed chuck 154 and the moving chuck 155 away from the sliding path of the rock drill 120. S9, the rock drill 120 rotates forward and slides forward on the drilling propulsion beam 110 to complete the overall drilling construction process of extending the drill rod; S10. After drilling is completed, the rock drill 120 slides back on the drilling propulsion beam 110 and pulls the extended drill rod out from the surrounding rock. S11, the two clamping heads 131 of the first clamping device 130 come together to clamp the tail end of the front section of the drill rod, the two clamping heads 131 of the second clamping device 140 come together to clamp the front end of the rear section of the drill rod, and the piston rod of the swing hydraulic cylinder 153 in the drill rod manipulator 150 extends to bring the fixed chuck 154 and the moving chuck 155 closer together and support the rear section of the drill rod. S12. The second clamping device 140 rotates at a certain angle on the drilling propulsion beam 110 to loosen the threaded connection between the front section of the drill rod and the rear section of the drill rod. S13, the two clamping heads 131 of the second clamping device 140 separate to release the front end of the rear section of the drill rod, and the second clamping device 140 rotates in the opposite direction to reset on the drilling propulsion beam 110. S14. The rock drill 120 reverses to loosen the threaded connection between the front section of the drill rod and the rear section of the drill rod. Then the rock drill 120 slides backward, dragging the rear section of the drill rod away from the second clamping device 140. S15, the piston rod of the hydraulic cylinder 156 in the drill pipe manipulator 150 extends out, and its fixed chuck 154 and movable chuck 155 clamp the rear section of the drill pipe. S16, rock drill 120 reverses, loosening the threaded connection between the rear drill rod and the output end of rock drill 120; S17. The piston rod of the swing hydraulic cylinder 153 in the drill rod manipulator 150 retracts, causing the clamped rear section of the drill rod to move to one side of the drilling propulsion beam 110 away from the propulsion path of the rock drill 120. S18. The rock drill 120 moves forward on the drilling propulsion beam 110 until its output end abuts against the tail end of the front section of the drill rod. Then the rock drill 120 rotates forward so that its output end is threadedly connected to the tail end of the front section of the drill rod. S19. The two clamping heads 131 of the first clamping device 130 separate to release the tail end of the front section of the drill rod, and the rock drill 120 slides back on the drilling propulsion beam 110 to pull the front section of the drill rod out of the surrounding rock. S20. Switch the hydraulic cylinder 310 to drive the bracket 300 to rotate around the rotating part 400 until the center of the front section of the anchor rod on the connecting pipe 235 of the anchoring device 230 is aligned with the center of the anchor hole drilled in the surrounding rock. S21. The anchoring device 230 slides forward along the anchoring propulsion beam 210 to send the front part of the anchor rod into the anchor hole in the surrounding rock, and during this process, an appropriate amount of slurry is pumped in through the rotary joint 237 to support the part of the front anchor rod located in the hole. S22. When the anchoring device 230 slides close to the third clamping device 220, the slurry pumping stops, and the two clamping heads 131 of the third clamping device 220 come together to clamp the tail end of the front anchor rod. S23, the drive motor 232 reverses, causing the connecting pipe 235 of the anchoring device 230 to loosen from the front anchor rod, and then the anchoring device 230 slides back on the anchoring propulsion beam 210. S24, the anchor bolt manipulator 240 transports the rear section of the anchor bolt to the front end of the connecting pipe 235 of the anchoring device 230; S25. Slide the anchoring device 230 forward on the anchoring propulsion beam 210 until the end of its connecting pipe 235 with the connecting thread abuts against the tail end of the rear anchor rod. Then drive the motor 232 to rotate forward until the connecting pipe 235 is tightened with the thread of the rear anchor rod. S26, the clamping hydraulic cylinder 156 of the anchor bolt manipulator 240 controls its moving clamp 155 and fixed clamp 154 ​​to separate, and push the rear section of the anchor bolt on the anchor injection propulsion beam 210 by sliding the anchor injection device 230 until the front end of the rear section of the anchor bolt abuts against the tail end of the front section of the anchor bolt. Then the drive motor 232 rotates forward until the front end of the rear section of the anchor bolt is threadedly tightened with the tail end of the front section of the anchor bolt. S27, the swing hydraulic cylinder 153 of the anchor bolt manipulator 240 controls its moving clamp 155 and fixed clamp 154 ​​to move away from the sliding path of the anchor injection device 230 as a whole. The two clamping heads 131 of the third clamping device 220 separate, and the forward sliding anchor injection device 230 sends the front section anchor bolt and the rear section anchor bolt connected as a whole into the anchor bolt hole in the surrounding rock. During this process, an appropriate amount of slurry is pumped in through the rotary joint 237 to support the anchor bolt part located in the hole. S28. When the anchoring device 230 slides close to the third clamping device 220, the front anchor rod and the rear anchor rod are installed in place. At this time, the grout is continuously pumped in through the rotary joint 237 until the entire grouting process is completed and then the grouting is stopped. S29. The third clamping device 220 clamps the tail end of the rear anchor rod, and the drive motor 232 reverses to loosen the connecting pipe 235 of the anchoring device 230 from the tail end of the rear anchor rod. S30, the two clamping heads of the third clamping device 220 separate, and the anchoring device 230 slides back.

[0025] Therefore, this integrated anchor drilling and grouting machine can automatically complete the entire process of drill rod extension, drilling, drill rod removal and disassembly, anchor rod assembly, anchor rod installation, and grouting. The entire process requires no manual intervention and minimal manpower, reducing labor intensity. Because there is no equipment conversion or extensive manual work, it effectively improves construction efficiency compared to existing technologies. Using this integrated machine, drilling, anchor rod installation, and grouting can be completed in one go for each hole, preventing missed anchor rods or grouting. Furthermore, the online installation and online grouting method ensures effective support and positioning of the anchor rod within the anchor hole, preventing anchor rod displacement and effectively improving construction quality.

[0026] It should be understood that the above is a schematic implementation process for drilling holes by extending two drill rods and installing anchor rods by extending two anchor rods. If multiple drill rods and anchor rods need to be extended, it is only necessary to load drill rods into the drill rod manipulator or anchor rods into the anchor rod manipulator, which does not affect the implementation of the above scheme.

[0027] In practical applications, it is common to use two drill rods extended for drilling. Since the drill rods are removed from the anchor bolt hole after drilling, the front and rear sections of the drill rod can be reused repeatedly during drilling at different locations. However, the anchor bolts are consumed after installation and grouting. Therefore, further... Figure 6 , Figures 8 to 10 As shown, the anchoring mechanism 200 also includes an anchor cylinder 250, which includes an upper rod motor 251, a main shaft 252, several outer chucks 253, and several inner chucks 254. The outer chucks 253 include a support plate 2531 and an arc plate 2532. One end of the support plate 2531 is fixedly connected to the anchoring propulsion beam 210, and the other end of the support plate 2531 is circular with a connecting hole machined at its center. One end of the arc plate 2532 is connected to the support plate 2531, and a closed arc-shaped groove 2533 is formed between the arc plate 2532 and the circular end of the support plate 2531. The open end of the arc-shaped groove 2533 is adapted to the anchoring manipulator 240. The main shaft 252 is rotatably mounted in the connecting holes of several outer chucks 253, and the output end of the upper rod motor 251 is fixedly connected to one end of the main shaft 252; several inner chucks 254 are fixedly sleeved on the main shaft 252, and several slots 2541 are distributed on the circumference of the inner chucks 254, which are adapted to the arc-shaped sliding grooves 2533. The anchor bolt chamber 250 can be used to store anchor bolts to be assembled. In use, several anchor bolts are placed in the arc-shaped chute 2533 and in the slots 2541 of the inner chuck 254. When the anchor bolts need to be assembled, the upper rod motor 251 drives the main shaft 252 to rotate at a certain angle, which in turn drives the inner chuck 254 to rotate at a certain angle. The slots 2541 move the anchor bolts from the opening end of the arc-shaped chute 2533 to several anchor bolt manipulators 240. Then, the anchor bolt manipulators 240 clamp and transport them to the front of the anchor injection device 230, and the assembly of the anchor bolts can be completed according to the aforementioned steps.

[0028] In specific implementation, such as Figure 4 As shown, the aforementioned first clamping device 130, second clamping device 140, and third clamping device 220 all employ a hydraulic clamping structure, which includes a cylinder 133. The cylinder 133 has piston chambers extending from both ends towards the center. End caps 134 are fixedly connected to both ends of the cylinder 133. A piston 135 is slidably disposed within each piston chamber. A piston rod 136 is fixedly connected to the end of the piston 135 furthest from the end cap 134. The piston rod 136 slidably adapts to the cylinder 133. The other end of the piston rod 136 is fixedly connected to the aforementioned clamping head 131. A through hole is formed in the center of the cylinder 133, directly opposite the clamping area 132. By hydraulically driving the piston 135 to slide within the cylinder 133, the two clamping heads 131 can be brought closer together to reliably clamp the drill rod or anchor rod.

[0029] Furthermore, a first oil port 137 and a second oil port 138 are provided on the cylinder body 133. A rodless chamber is formed between the piston 135 and the end cap 134, and a rod chamber is formed on the other side of the piston 135. The first oil port 137 is connected to both rodless chambers, and the second oil port 138 is connected to both rod chambers. Hydraulic oil is pumped into the cylinder body 133 through the first oil port 137, which pushes the two pistons 135 to move synchronously towards the center to clamp the anchor rod or drill rod. Since the two pistons 135 are identical and the two rodless chambers are connected, the clamping force applied by the clamping heads 131 on both sides of the drill rod or anchor rod can be effectively ensured to be consistent when clamping the drill rod or anchor rod, and it also plays a positioning role.

[0030] It should be noted that the use of the same structure for the first clamping device 130, the second clamping device 140, and the third clamping device 220 is based on the consideration of component interchangeability. On the other hand, the second clamping device 140 adopts the design of the hydraulic clamping device, which has a compact overall structure and makes it easy to keep its rotation center line basically coincident with the center line of its clamping area 132 when the second clamping device 140 rotates. With the above design, the clamping force on both sides of the drill rod is consistent during clamping. Its positioning function can prevent the threads from slipping and being damaged when loosening the threaded connection of the front and rear drill rods. With the above design, the third clamping device 220 can effectively clamp and position the part of the anchor rod located outside the surrounding rock, preventing the anchor rod from shifting, so as to ensure the quality of subsequent grouting construction.

[0031] In specific implementation, such as Figure 3 , Figure 11 As shown, the drilling mechanism 100 also includes a base 141, a rotating seat 142, and a loosening hydraulic cylinder 143. The base 141 is fixedly connected to the drilling propulsion beam 110, the rotating seat 142 is rotatably connected to the base 141, and the second clamping device 140 is fixedly mounted on the rotating seat 142. The two ends of the loosening hydraulic cylinder 143 are rotatably connected to the rotating seat 142 and the base 141, respectively. By extending and retracting the loosening hydraulic cylinder 143, the base 141 and the second clamping device 140 can be driven to rotate in both directions within a certain angle range. Specifically, a semi-circular groove is provided on the base 141, and a slider 144 is fixedly connected to the rotating seat 142. The slider 144 is slidably disposed in the semi-circular groove. Through the guiding constraint of the slider 144 by the semi-circular groove, the rotating seat 142 is kept in a position where the rotation axis of the second clamping device 140 on the drilling propulsion beam 110 is basically coincident with the center line of its clamping area 132 when it rotates on the base 141.

[0032] In specific implementation, such as Figure 1As shown, the anchoring mechanism 200 also includes an anchoring compensation hydraulic cylinder 260. An anchoring propulsion beam 210 is slidably mounted on a bracket 300. Both ends of the anchoring compensation hydraulic cylinder 260 are connected to the anchoring propulsion beam 210 and the bracket 300, respectively. The sliding direction of the anchoring propulsion beam 210 on the bracket is the same as the sliding direction of the anchoring device 230 on the anchoring propulsion beam 210. An anchoring top cone 270 is provided at the front end of the anchoring propulsion beam 210. During the anchoring process, the anchoring compensation hydraulic cylinder 260 can drive the anchoring propulsion beam 210 to slide forward, causing the anchoring top cone 270 to press firmly against the surrounding rock wall, thus maintaining the stability of the anchoring process. When switching from drilling to anchoring, the anchoring compensation hydraulic cylinder 260 can drive the anchoring propulsion beam 210 to slide backward, causing the anchoring top cone 270 to move away from the surrounding rock wall, avoiding positional interference.

[0033] In specific implementation, such as Figure 1 As shown, the drilling mechanism also includes a drilling compensation hydraulic cylinder 160. A drilling propulsion beam 110 is slidably mounted on a bracket 300. Both ends of the drilling compensation hydraulic cylinder 160 are connected to the drilling propulsion beam 110 and the bracket 300, respectively. The sliding direction of the drilling propulsion beam 110 on the bracket 300 is the same as the sliding direction of the rock drill 120 on the drilling propulsion beam 110. A drilling top cone 170 is provided at the front end of the drilling propulsion beam 110. Similarly, the drilling compensation hydraulic cylinder 160 can drive the drilling propulsion beam 110 to slide back and forth. During drilling, the drilling top cone 170 is pressed against the surrounding rock wall to maintain stability during the drilling process. When switching from drilling to anchoring, the drilling top cone 170 is moved away from the surrounding rock wall to avoid positional interference.

[0034] In specific implementation, such as Figure 1 , Figure 12 As shown, a mandrel 420 is fixedly mounted on the rotating part 400, and the bottom of the bracket 300 is rotatably sleeved on the mandrel 420. A main top cone 410 is fixedly mounted on the front end of the mandrel 420. During construction, after adjusting the drilling direction for each hole, the main top cone 410 can be pushed against the wall to position the rotation center when switching between drilling and anchoring, ensuring accurate positioning during the switching process.

[0035] In specific implementation, such as Figures 12 to 14As shown, the aforementioned rotating part 400 includes a bracket connecting seat 430, a double rotating seat 450, and a carrier connecting seat 440. The spindle 420 is fixedly mounted on the bracket connecting seat 430. The double rotating seat 450 includes a seat body 451 and two rotating devices. Each rotating device includes a housing 452, in which a worm gear 453 and a worm 454 are rotatably mounted. The worm gear 453 meshes with the worm 454. A rotary motor 455 is fixedly mounted on the housing 452. The output shaft of the rotary motor 455 is fixedly connected to one end of the worm 454. The rotary motor 455 can drive the worm 454 to rotate, thereby further driving the worm gear 453 to rotate. When the rotary motor 455 stops operating, the rotating device can be self-locked by the self-locking characteristic of the worm gear mechanism. One of the rotary devices has a housing 452 fixedly connected to a carrier connecting seat 440, and its worm gear 453 fixedly connected to the bottom surface of the seat 451; the other rotary device has a housing 452 fixedly connected to the side of the seat 451, and its worm gear 453 fixedly connected to a bracket connecting seat 430.

[0036] like Figure 15 As shown, the integrated anchor drilling and injection machine is equipped with a tracked vehicle 500 during use. The tracked vehicle 500 is equipped with a telescopic boom 510. The carrier connecting seat 440 is fixedly connected to the front end of the telescopic boom 510. During construction, the drilling mechanism 100 and the anchor injection mechanism 200 can be transported to each construction hole position by the movement of the tracked vehicle 500, the coordinated action of the telescopic boom 510 and the rotating part 400.

[0037] The above description is merely a preferred embodiment of the present invention. It should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the concept described herein through the above teachings or related technologies or knowledge. Modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. An integrated anchor drilling and injection machine, characterized in that, Includes drilling mechanism, anchoring mechanism, bracket, rotating part and switching hydraulic cylinder; The drilling mechanism includes a drilling propulsion beam, a rock drill, a first clamping device, a second clamping device, and several drill rod manipulators. The first clamping device is fixedly mounted on the front end of the drilling advance beam. The first clamping device includes two symmetrically arranged clamping heads, with a clamping area formed between the two clamping heads. The two clamping heads can move closer to each other or further apart. The second clamping device has the same structure as the first clamping device. The second clamping device is rotatably connected to the drilling propulsion beam, and the clamping area of ​​the second clamping device is directly opposite the clamping area of ​​the first clamping device. The rock drill is slidably mounted on the drilling propulsion beam, and the output end of the rock drill is sequentially aligned with the clamping areas of the second clamping device and the first clamping device. The drill pipe manipulator includes a mounting base, a swing arm, a swing hydraulic cylinder, a fixed chuck, a movable chuck, and a clamping hydraulic cylinder. The mounting base is fixedly connected to the drilling propulsion beam. The swing arm is rotatably connected to the mounting base. Both ends of the swing hydraulic cylinder are rotatably connected to the swing arm and the mounting base, respectively. The fixed chuck is fixedly mounted on the swing arm. The movable chuck is rotatably connected to the swing arm. Both ends of the clamping hydraulic cylinder are rotatably connected to the movable chuck and the swing arm, respectively. Several drill rod manipulators are arranged in a straight line on one side of the drilling propulsion beam. The clamping hydraulic cylinder can drive the movable chuck to move towards the fixed chuck. The swinging hydraulic cylinder can drive the swing arm to swing so that the fixed chuck and the movable chuck move between the second clamping device and the rock drill. The anchoring mechanism includes an anchoring propulsion beam, a third clamping device, an anchoring device, and several anchoring manipulators. The third clamping device has the same structure as the first clamping device, and the third clamping device is fixedly installed at the front end of the anchor injection propulsion beam. The anchoring device includes a housing, a drive motor, gear A, and gear B. The housing is slidably mounted on the anchoring propulsion beam. A connecting pipe and a drive shaft are rotatably mounted inside the housing. One end of the connecting pipe extends out of the housing and is connected to a rotary joint, while the other end extends out of the housing and is threaded. Gears A and B are both housed within the housing. Gear A is fixedly fitted onto the connecting pipe, and gear B is fixedly fitted onto the drive shaft. Gears A and B mesh. The output end of the drive motor is fixedly connected to one end of the drive shaft. The threaded end of the connecting pipe faces the clamping area of ​​the third clamping device. The structure of the anchor bolt manipulator is the same as that of the drill rod manipulator. Several anchor bolt manipulators are installed side by side in a straight line on one side of the anchor injection propulsion beam. The swing hydraulic cylinder of the anchor bolt manipulator can drive its fixed chuck and moving chuck to move between the third clamping device and the anchor injection device. The anchoring mechanism also includes an anchor cylinder, which comprises an upper rod motor, a main shaft, several outer chucks, and several inner chucks. The outer chuck includes a support plate and an arc plate. One end of the support plate is fixedly connected to the anchoring propulsion beam, and the other end of the support plate is circular with a connecting hole machined in its center. One end of the arc plate is connected to the support plate, and a closed arc-shaped groove is formed between the circular ends of the arc plate and the support plate. The open end of the arc-shaped groove is adapted to the anchoring robot. The main shaft is rotatably mounted in the connection holes of the plurality of external chucks, and the output end of the upper rod motor is fixedly connected to one end of the main shaft. Several inner chucks are fixedly sleeved on the main shaft, and several slots are distributed on the circumference of the inner chucks, which are adapted to the arc-shaped sliding grooves. The drilling propulsion beam and the anchoring propulsion beam are arranged parallel to each other on the bracket. The output end of the rock drill and the threaded end of the connecting pipe in the anchoring device face the same direction. The bracket is rotatably connected to the rotating part. The distance between the center line of the output shaft of the rock drill and the rotation center line of the bracket on the rotating part is the same as the distance between the center line of the connecting pipe and the rotation center line of the bracket on the rotating part. The two ends of the switching hydraulic cylinder are rotatably connected to the bracket and the rotating part, respectively.

2. The anchor drilling and injection integrated machine according to claim 1, characterized in that, The first clamping device includes a cylinder body, which has piston chambers extending from both ends toward the center. End caps are fixedly connected to both ends of the cylinder body. A piston is slidably disposed in each piston chamber. A piston rod is fixedly connected to the end of the piston away from the end cap. The piston rod is slidably adapted to the cylinder body. The clamping head is fixedly connected to the other end of the piston rod. A through hole is provided in the middle of the cylinder body, which is positioned directly opposite the clamping area.

3. The anchor drilling and injection integrated machine according to claim 2, characterized in that, The cylinder body is provided with a first oil port and a second oil port. A rodless chamber is formed between the piston and the end cap, and a rod chamber is formed on the other side of the piston. The first oil port is connected to both rodless chambers, and the second oil port is connected to both rod chambers.

4. The anchor drilling and injection integrated machine according to claim 3, characterized in that, It also includes a base, a rotating seat, and a loosening hydraulic cylinder. The base is fixedly connected to the drilling propulsion beam, the rotating seat is rotatably connected to the base, the second clamping device is fixedly installed on the rotating seat, and the two ends of the loosening hydraulic cylinder are rotatably connected to the rotating seat and the base, respectively.

5. The anchor drilling and injection integrated machine according to claim 1, characterized in that, The anchoring mechanism also includes an anchoring compensation hydraulic cylinder. The anchoring propulsion beam is slidably mounted on the bracket. The two ends of the anchoring compensation hydraulic cylinder are respectively connected to the anchoring propulsion beam and the bracket. The sliding direction of the anchoring propulsion beam on the bracket is the same as the sliding direction of the anchoring device on the anchoring propulsion beam. An anchoring top cone is provided at the front end of the anchoring propulsion beam.

6. The anchor drilling and injection integrated machine according to claim 1, characterized in that, The drilling mechanism also includes a drilling compensation hydraulic cylinder. The drilling propulsion beam is slidably mounted on the bracket. The two ends of the drilling compensation hydraulic cylinder are respectively connected to the drilling propulsion beam and the bracket. The sliding direction of the drilling propulsion beam on the bracket is the same as the sliding direction of the rock drill on the drilling propulsion beam. A drilling top cone is provided at the front end of the drilling propulsion beam.

7. An integrated anchor drilling and injection machine according to any one of claims 1 to 6, characterized in that, A spindle is fixedly mounted on the rotating part, and the bottom of the bracket is rotatably sleeved on the spindle. A main top cone is fixedly mounted on the front end of the spindle.

8. The anchor drilling and injection integrated machine according to claim 7, characterized in that, The rotating part includes a bracket connecting seat, a double rotating seat and a carrier connecting seat, and the spindle is fixedly mounted on the bracket connecting seat; The double rotary seat includes a seat body and two rotary devices. Each rotary device includes a housing. A worm wheel and a worm are rotatably arranged inside the housing. The worm wheel meshes with the worm. A rotary motor is fixedly installed on the housing. The output shaft of the rotary motor is fixedly connected to one end of the worm. One of the housings of the rotary device is fixedly connected to the carrier connecting seat, and its worm gear is fixedly connected to the bottom surface of the seat; The housing of another rotary device is fixedly connected to the side of the base, and its worm gear is fixedly connected to the bracket connecting seat.

9. The anchor drilling and injection integrated machine according to claim 8, characterized in that, It also includes a tracked vehicle, which is equipped with a pitch telescopic boom, and the vehicle connecting seat is fixedly connected to the front end of the pitch telescopic boom.

Images