Flexible slope drilling, bolting and grouting integrated operation system

Abstract

The invention discloses a flexible slope drilling, bolting and grouting integrated operation system which comprises an upper tractor, an integrated operation device and a lower tractor, the upper tractor is arranged on an upper riding track, the lower tractor is arranged on a lower riding track, and the integrated operation device is arranged on an operation slope. The upper tractor and the lower tractor are used for dragging and fixing the integrated operation device to a working position through steel wire ropes, a plurality of operation devices needed by slope supporting operation are arranged on the integrated operation device, and the operation devices are switched on the integrated operation device in a rotating mode. The integrated operation system is used for high slope supporting operation construction, the slope supporting operation period can be greatly shortened, meanwhile, the labor intensity of operators is relieved, the safety guarantee of constructors is effectively improved, and the construction automation degree is high.

Description

Technical Field

[0001] The invention relates to the technical field of high slope support, and in particular to a flexible slope drilling, anchoring and grouting integrated operation system. Background Art

[0002] High slopes usually refer to soil slopes with a height greater than 20m and less than 100m or rock slopes with a height greater than 30m and less than 100m. The height of the slope will play an important role and influence on the stability of the slope. In large-scale engineering construction, the stability of high slopes not only involves the safety of the project itself, but also the safety of the overall environment. Therefore, it is necessary to support the high slopes to ensure their stability.

[0003] In the existing high slope support construction, scaffolding is generally used, and holes are drilled manually, anchor rods or anchor cables are inserted, and grouting is done manually. This construction method requires the erection of a large-scale double-row scaffold on the slope horseway, which is time-consuming, labor-intensive, dangerous, and has a low degree of mechanization. Summary of the invention

[0004] The purpose of the present invention is to provide a flexible slope drilling, anchoring and grouting integrated operation system to address the problems of existing high slope support construction operations such as long time consumption, high intensity, high risk and low degree of operation mechanization. The operation system can greatly shorten the construction period, reduce the labor intensity of personnel, improve the safety of construction personnel, and has a high degree of automation.

[0005] The present invention is achieved through the following technical solutions:

[0006] In the first aspect, the present invention provides an integrated flexible slope drilling, anchoring and grouting operation system, comprising an upper tractor, an integrated operation device and a lower tractor, wherein the upper tractor is arranged on an upper horseway, the lower tractor is arranged on a lower horseway, and the integrated operation device is arranged on an operation slope. The upper tractor and the lower tractor respectively pull and fix the integrated operation device at a working position through steel wire ropes, and the integrated operation device is provided with a plurality of operation devices required for slope support operations, and the plurality of operation devices are switched on the integrated operation device through rotation.

[0007] As an optional solution of the present invention, the upper tractor and the lower tractor both include a walking chassis, a rotating platform and a winch device. The walking chassis is used to realize the walking of the tractor. The rotating platform is arranged on the walking chassis and can realize rotation in a horizontal plane. The winch device is arranged on the rotating platform and realizes traction of the integrated working device through a wire rope.

[0008] As an optional solution of the present invention, the rotating platform is provided with an inclined plate and a plate cylinder, one end of the inclined plate is hinged to the side of the rotating platform, one end of the plate cylinder is hinged to the rotating platform, and the other end is hinged to the inclined plate.

[0009] As an optional solution of the present invention, the hoisting device includes a hoist and a guide pulley assembly, the hoist is used to realize the retraction and release of the wire rope, and the guide pulley assembly is used to guide the retraction and release of the wire rope.

[0010] As an optional solution of the present invention, the integrated working device includes a lower support, an internal rotating cylinder and a walking mechanism, an outer shell is provided on the top of the lower support, the internal rotating cylinder is located in the outer shell and forms a rotation connection with the outer shell, the internal rotating cylinder is driven to rotate by a rotary drive mechanism, and the rotary axis is perpendicular to the lower support, the walking mechanism is respectively arranged on both sides of the lower support, and the walking mechanism includes walking wheels.

[0011] As an optional solution of the present invention, the rotary drive mechanism includes a three-in-one motor, a small gear and a large gear, the three-in-one motor is installed on the outer casing, the small gear is connected to the output end of the three-in-one motor, the large gear is sleeved on the outer wall of the internal rotating cylinder, and the small gear and the large gear are meshed with each other for transmission.

[0012] As an optional solution of the present invention, a traveling cylinder is provided on the lower support, and the traveling cylinder is connected to the traveling mechanism and is used to change the relative height between the traveling wheel and the lower support to achieve contact or separation between the bottom of the lower support and the slope.

[0013] As an optional solution of the present invention, the multiple working devices on the integrated working device are distributed circumferentially on the top of the internal rotating drum.

[0014] As an optional solution of the present invention, the working device on the integrated working device includes a rock drill, a hole cleaning device, a rod inserting device, a cable threading device and a grouting device.

[0015] As an optional solution of the present invention, both the upper tractor and the lower tractor are provided with a truck crane.

[0016] In a second aspect, the present invention further provides a slope drilling, anchoring and grouting integrated operation method, using the flexible slope drilling, anchoring and grouting integrated operation system described in the first aspect, comprising the following steps:

[0017] Step 1: The tractors for the upper and lower roads on the slope are in place, the integrated working device is lowered to the slope surface by the upper road tractor, and the steel wire rope of the lower road tractor is connected to arrange the integrated working device in the anchoring position;

[0018] Step 2: Use the integrated operation device to perform drilling, hole cleaning, rod insertion / cable threading, and grouting operations. After the current operation station is completed, the integrated operation device is moved to the next operation station by the tractor and the wire rope is retracted and released to continue the reinforcement operation until the reinforcement operation of the current slope is completed;

[0019] Step 3: Pull the integrated working device onto the tractor on the lower horseway, untie the wire rope of the tractor on the upper horseway, retract the wire rope onto the drum, and then transfer the tractor to the horseway at the bottom of the next level of slope;

[0020] Step 4. Repeat steps 1 to 3 until all slope reinforcement operations are completed.

[0021] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0022] 1. The preparation work for slope construction by the present invention is less, which can greatly shorten the construction period. Compared with manual scaffolding, drilling, anchor rod insertion and grouting, the flexible slope operation system does not need to set up scaffolding or dismantle scaffolding, and the preparation time for slope construction is less, which can save construction period, reduce costs and increase efficiency;

[0023] 2. The construction of the present invention has a high degree of mechanization and safety. The flexible slope operation system greatly reduces the number of operators. At the same time, few people go to high slopes for construction, which improves the safety of construction workers and reduces the labor intensity of workers.

[0024] 3. This flexible operation system can automatically complete drilling, hole cleaning, rod insertion / cable threading, with a high degree of automation. The use of rotary encoders can accurately complete the conversion between various processes with less manual participation, making the slope anchoring construction fast and accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the exemplary embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other relevant drawings can be obtained based on these drawings without creative work. In the drawings:

[0026] Figure 1 This is an operation layout diagram of the flexible slope drilling, anchoring and grouting integrated operation system of the present invention;

[0027] Figure 2 It is a schematic diagram of the structure of the tractor in the present invention;

[0028] Figure 3 It is a main cross-sectional schematic diagram of the integrated operation device in the present invention;

[0029] Figure 4 It is a schematic diagram of the top working station arrangement of the integrated working device in the present invention;

[0030] Figure 5 This is a schematic diagram of unloading and lowering the integrated operation device in the present invention;

[0031] Figure 6 This is a schematic diagram of the drilling, anchoring and injection operations of the integrated operation device in the present invention;

[0032] Figure 7 It is a schematic diagram of the integrated working device of the present invention being transferred to the tractor for disembarking from the horse road;

[0033] Figure 8 It is a schematic diagram of the tractor for the upper road in the present invention after the transfer of the working position;

[0034] Fig. 9 It is a schematic diagram of the integrated operation device in the present invention in position;

[0035] Fig.10 A schematic diagram of adjusting the angle of the top working station of the integrated working device in the present invention;

[0036] Fig.11 This is a schematic diagram of adding a truck crane to the tractor of the present invention;

[0037] Fig.12 This is another layout diagram of the traveling mechanism and traveling cylinder at the bottom of the integrated working device in the present invention.

[0038] Marks and corresponding parts names in the attached drawings:

[0039] 1-upper tractor; 2-integrated working device; 3-lower tractor; 4-upper traction wire rope; 5-lower traction wire rope; 6-crawler chassis; 7-frame; 8-slewing platform; 9-winch; 10-guide rope pulley assembly; 11-cladding cylinder; 12-inclined cladding; 13-hydraulic pump station; 14-rock drill; 15-internal rotating cylinder; 16-small gear; 17-lower one-way ball thrust bearing; 18-traveling mechanism; 19-lower support; 20-traveling cylinder; 21-anchor guide wheel; 22-large gear; 23-housing; 24-upper one-way ball thrust bearing; 25-anchor; 26-anchor driving machine; 27-three-in-one motor. DETAILED DESCRIPTION

[0040] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with embodiments and drawings. The exemplary embodiments of the present invention and their description are only used to explain the present invention and are not intended to limit the present invention.

[0041] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by technicians in the technical field to which this application belongs; the terms used herein are only for the purpose of describing specific embodiments and are not intended to limit this application; the terms "including" and "having" in the specification and claims of this application and the above-mentioned figure descriptions and any variations thereof are intended to cover non-exclusive inclusions.

[0042] In the description of the embodiments of the present application, technical terms such as "first" and "second" are only used to distinguish different objects and cannot be understood as indicating or implying relative importance or implicitly indicating the number, specific order or primary and secondary relationship of the indicated technical features.

[0043] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0044] In the description of the embodiments of the present application, the term "and / or" is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists, A and B exist at the same time, and B exists. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship.

[0045] In the embodiments of the present application, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width and other dimensions of various components in the embodiments of the present application shown in the drawings, as well as the overall thickness, length, width and other dimensions of the integrated device are only exemplary descriptions and should not constitute any limitation to the present application.

[0046] In the description of the embodiments of the present application, the term "multiple" refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple pieces" refers to more than two pieces (including two pieces), unless otherwise clearly and specifically defined.

[0047] In the description of the embodiments of the present application, the technical terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the embodiments of the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the embodiments of the present application.

[0048] In the description of the embodiments of the present application, unless otherwise clearly specified and limited, technical terms such as "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0049] Please refer to Figures 1 to 4 A flexible slope drilling, anchoring and grouting integrated operation system provided in an embodiment of the present application includes an upper tractor 1, an integrated operation device 2 and a lower tractor 3. The upper tractor 1 is arranged on an upper horseway, the lower tractor 3 is arranged on a lower horseway, and the integrated operation device 2 is arranged on an operation slope. The upper tractor 1 and the lower tractor 3 respectively pull and fix the integrated operation device 2 in a working position through an upper traction wire rope 4 and a lower traction wire rope 5. The integrated operation device 2 is provided with a plurality of operation devices required for slope support operations, and the plurality of operation devices are switched on the integrated operation device 2 by rotation.

[0050] For high slopes, they are usually designed as multi-level slopes with horse paths between each level. The horse path at the top of each level is usually called the upper horse path, and the horse path at the bottom of each level is called the lower horse path. It should be noted that the slope horse path is an engineering measure for slope stability, which can prevent slope collapse and landslides, provide traffic channels, and divert water flow and increase the stability and aesthetics of the slope.

[0051] In this embodiment, the upper tractor 1 is arranged on the upper horseway, the lower tractor 3 is arranged on the lower horseway, and the integrated working device 2 is arranged on the working slope. The integrated working device 2 is towed and fixed in the working position by the steel wire rope led out by the upper tractor 1 and the lower tractor 3. When the upper tractor 1 and the lower tractor 3 move synchronously along the horseway direction, the integrated working device 2 can be driven to move laterally along the slope. When the upper tractor 1 and the lower tractor 3 retract and release the steel wire rope respectively, the integrated working device 2 can be driven to move vertically along the slope. At the same time, since the integrated working device 2 is integrated with multiple working devices required for slope support operations, such as drilling, hole cleaning, anchor rod insertion / anchor cable insertion, and grouting equipment, these equipment are switched on the integrated working device by rotation, that is, after the drilling is completed, the hole cleaning equipment is rotated to the hole position for hole cleaning operation, and after the hole is cleaned, the anchor rod insertion / anchor cable insertion equipment is rotated again to the hole position for anchor rod insertion / anchor cable insertion operation, and then the grouting equipment is rotated again to the hole position for grouting operation.

[0052] According to some embodiments of the present application, the upper tractor 1 and the lower tractor 3 both include a walking chassis, a rotating platform 8 and a winch device. The walking chassis is used to realize the walking of the tractor. The rotating platform 8 is arranged on the walking chassis and can realize rotation in a horizontal plane. The winch device is arranged on the rotating platform 8 and realizes traction of the integrated working device 2 through a steel wire rope.

[0053] According to some embodiments of the present application, the walking chassis includes a frame 7 and a crawler chassis 6. The rotating platform 8 is connected to the frame 7 via a rotating bearing. The rotating bearing has external teeth. The driving gear is installed on the rotating platform 8. The driving device is used to drive the gear to rotate and engage, thereby realizing the rotation of the rotating platform 8.

[0054] According to some embodiments of the present application, the rotating platform 8 is provided with a diagonal slat 12 and a slat cylinder 11, one end of the diagonal slat 12 is hinged to the side of the rotating platform 8, one end of the slat cylinder 11 is hinged to the rotating platform 8, and the other end is hinged to the diagonal slat 12. The diagonal slat 12 is hinged to the rotating platform 8 on the side of the wire rope lead-out direction, and the slat cylinder 11 is mainly used to drive the diagonal slat 12 to change its position so that it is connected to the slope surface at an angle, so that the diagonal slat 12 can be used for the integrated working device 2 to operate the tractor up and down.

[0055] When working on a certain level of slope, the integrated working device 2 is usually lowered from the upper tractor 1 to the slope via the inclined plate 12 for construction. When the construction of this level of slope is completed, the integrated working device 2 will be lowered to the lower tractor 3, and then the next level of slope construction will be carried out. At this time, the revolving platform 8 of the lower tractor 3 rotates, so that the inclined plate 12 can be extended and connected with the next level of slope at an angle, thereby facilitating the integrated working device 2 to be lowered from the inclined plate 12 to the next level of slope.

[0056] According to some embodiments of the present application, the hoisting device includes a hoist 9 and a guide pulley assembly 10, wherein the hoist 9 is used to realize the retracting and releasing of the wire rope, and the guide pulley assembly 10 is used to guide the retracting and releasing of the wire rope. In this embodiment, two hoists 9 are respectively installed on the upper tractor 1 and the lower tractor 3, and two wire ropes are extended to connect with the integrated working device 2. The guide pulley assembly 10 is welded by two pulleys and a bracket, and the two pulleys are arranged in pairs, and the rope grooves of the two pulleys completely surround the wire rope, so that the wire rope can be ensured not to slip out of the rope groove during operation.

[0057] According to some embodiments of the present application, the integrated working device 2 includes a lower support 19, an internal rotating cylinder 15 and a walking mechanism 18. An outer shell 23 is provided on the top of the lower support 19. The internal rotating cylinder 15 is located in the outer shell 23 and forms a rotation connection with the outer shell 23. The internal rotating cylinder 15 is driven to rotate by a rotary drive mechanism, and the rotation axis is perpendicular to the lower support 19. The walking mechanism 18 is respectively arranged on both sides of the lower support 19, and the walking mechanism 18 includes walking wheels.

[0058] In this embodiment, the lower support 19 serves as the basis of the integrated working device 2, and a housing 23 is fixedly installed on its top. The upper and lower ends of the internal rotating cylinder 15 are respectively connected to the housing 23 through the upper one-way ball thrust bearing 24 and the lower one-way ball thrust bearing 17, so that the switching of multiple working devices can be realized by rotating the internal rotating cylinder 15. The walking mechanism 18 is a component mainly composed of walking wheels, springs, etc., wherein the walking wheels are connected to the lower support 19 through a bracket structure, and the walking wheels are used to contact the slope surface, so that the integrated working device 2 can walk along the slope surface; and the spring is arranged between the walking wheels and the bracket structure, mainly to produce an up and down floating buffer effect on the walking wheels, so as to improve the adaptability to the uneven slope surface.

[0059] According to some embodiments of the present application, the rotary drive mechanism includes a three-in-one motor 27, a pinion 16 and a large gear 22, the three-in-one motor 27 is fixedly mounted on the housing 23, the pinion 16 is connected to the output end of the three-in-one motor 27, the large gear 22 is sleeved on the outer wall of the internal rotating cylinder 15, and the pinion 16 and the large gear 22 are meshed with each other for transmission. Holes are opened on the side of the housing 23 to allow the pinion 16 to mesh with the large gear 22, so that the motor can rotate to drive the pinion 16 to drive the large gear 22, thereby driving the internal rotating cylinder 15 to rotate.

[0060] It should be noted that the three-in-one motor 27 is a motor that combines a motor, a reducer and an encoder, also known as an integrated motor. This motor can not only realize the transmission function of the motor, but also realize more precise and efficient motion control through the synergy of auxiliary devices such as the reducer and the encoder.

[0061] According to some embodiments of the present application, a travel cylinder 20 is provided on the lower support 19, and the travel cylinder 20 is connected to the travel mechanism 18, and is used to change the relative height between the travel wheel and the lower support 19, so as to achieve contact or separation between the bottom of the lower support 19 and the slope. The travel cylinder 20 is used to drive the travel mechanism 18 to move, so as to raise or lower the integrated working device 2, so that the lower support 19 is off the ground or close to the ground, so as to facilitate walking or working.

[0062] One feasible action mode is: the travel cylinder 20 is arranged vertically and fixedly, and its extended end is indirectly connected to the travel wheel. When the travel cylinder 20 is in motion, the travel mechanism 18 is lifted and lowered vertically. Specifically, when traveling, the travel cylinder 20 is pushed out to raise the integrated working device 2 to facilitate walking; when working, the travel cylinder 20 is retracted to lower the integrated working device 2 so that the lower support 19 contacts the ground, and the integrated working device 2 is kept in position during rock drilling, anchor bolt insertion, and grouting.

[0063] Another feasible action mode is: the travel cylinder 20 is changed to a rotating tilting arrangement, the travel mechanism 18 is hinged on the lower support 19 of the integrated working device 2, and the travel cylinder 20 is also hinged to the lower support, such as Fig.12 When it is necessary to move, the travel cylinder 20 is retracted, and the travel wheels lift up the integrated working device 2 to prepare for moving. When the integrated working device 2 is in place for operation, the travel cylinder 20 is pushed out, and the travel wheels move outward, so that the lower support 19 of the integrated working device 2 contacts the slope surface for anchoring, and drilling, rod / cable threading and grouting operations begin.

[0064] According to some embodiments of the present application, the multiple working devices on the integrated working device 2 are evenly distributed along the circumferential direction on the top of the internal rotating cylinder 15. The three-in-one motor 27 drives the small gear 16 to drive the large gear 22. Since a rotary encoder is installed at the bottom of the small gear 16, the encoder determines the precise position of each working device and stores it in the control system PLC, thereby realizing the rotation switching of each working device.

[0065] According to some embodiments of the present application, the working device on the integrated working device 2 includes a rock drill, a hole cleaning device, a rod insertion device, a cable threading device and a grouting device. Specifically, there are 5 hole positions on the internal rotating cylinder. According to the construction process of the anchor rod or anchor cable, different equipment is installed at each hole position, namely, a YYG150 hydraulic rock drill for drilling anchor rod or anchor cable holes, an air-type hole cleaning device, a cable threading device for threading anchor cables, and a rod insertion device for inserting anchor rods. Taking the rod insertion device as an example, it has an anchor rod insertion drive 26 and a plurality of anchor rod guide wheels 21 arranged in the same direction, so that the anchor rod 25 is inserted into the slope drill hole.

[0066] The grouting holes are equipped with a telescopic grouting pipe action mechanism and a UB3C grouting pump. According to the top space of the integrated operation device, the UB3C grouting pump can also be installed on the tractor on the upper road. The slurry station is arranged on the tractor on the upper road, or arranged separately. The air compressor can be arranged on the tractor or near the upper road. The electricity required by the integrated operation device is supplied by cables, and compressed air, slurry, etc. are transported by pipelines. The hydraulic pump station 13 is installed on the top of the shell of the integrated operation device 2.

[0067] It should be noted that the above-mentioned YYG150 hydraulic rock drill, hole cleaning device, rod insertion device, grouting device and wire threading device are all mature products available on the market and can be installed in the corresponding hole positions.

[0068] According to some embodiments of the present application, the upper tractor 1 and the lower tractor 3 are both provided with a vehicle crane, such as Fig.11 In order to facilitate the transportation of materials and small tools, a truck crane can be installed on the rotating platform 8 or frame 7 of the tractor. The truck crane is similar to a column-type cantilever crane and has a certain lifting range.

[0069] The process of slope support operation using the integrated system in this embodiment is as follows:

[0070] (1) The tractor for going up and down the horse track is in place, and the integrated operation device is lowered. Figure 5 As shown, the integrated working device slowly descends to the slope position under the traction of the wire rope of the upper horse road tractor, connects with the wire rope of the lower horse road tractor, and starts the upper / lower tractor at the same time to arrange the integrated working device in the anchoring position.

[0071] (2) Integrated operation equipment for drilling, hole cleaning, rod insertion / cable threading, and grouting. Figure 6 As shown, under the joint traction of the upper and lower tractors, the integrated working device is accurately positioned to carry out drilling, hole cleaning, rod / cable insertion and grouting operations.

[0072] (3) The integrated operating device is lowered and towed to the tractor for fixing on the lower road. Figure 7As shown, when all anchor rod / anchor cable operations on slope A are completed, the integrated operating device is lowered to the tractor on horse trail ②, the wire rope connecting the tractor on horse trail ① to the integrated operating device is untied, the tractor retracts the wire rope onto the drum, fixes the rope end, and then transfers the tractor from horse trail ① to horse trail ③.

[0073] (4) Repeat this cycle until all slope reinforcement operations are completed. The tractor for ① horse track passes through the construction road and moves to ③ horse track. Figure 8 As shown, the process (1) is then repeated to complete the slope B support operation in a cycle.

[0074] After the integrated operation device in this embodiment is in place on the slope, the power supply and the air duct are connected, and the pulping station starts to prepare the slurry. The main steps of the specific operation process are as follows:

[0075] (1) Positioning and drilling. After the integrated working device is in place, the anchoring point is determined according to the design drawings. The travel cylinder is activated to retract the travel wheels so that the lower support of the integrated working device contacts the slope surface. Fig. 9 As shown, the upper and lower traction wire ropes are tightened at the same time, and the wire rope tension is determined according to on-site commissioning. A rock drill is used to drill holes on the slope.

[0076] (2) Cable insertion / rod insertion and grouting. Fig.10 As shown: if drilling at the 12 o'clock position, when cleaning the hole, the pinion drives the internal rotating cylinder to rotate 72° clockwise, and the hole cleaning device turns to the 12 o'clock position to perform the hole cleaning operation; after the hole cleaning is completed, if grouting is performed, the pinion drives the internal rotating cylinder to rotate 144° clockwise to perform grouting; after grouting is completed, the anchor rod is inserted, and then the rod insertion device is turned 72° counterclockwise to the 12 o'clock position to perform the anchor rod insertion operation. The internal rotating cylinder drives the rotation angle of each operating device, whether it rotates clockwise or counterclockwise, and whether the anchor rod is inserted first or the grouting is performed first, which is determined according to the on-site process.

[0077] (3) After each process is completed, the traveling mechanism is lowered. After the integrated working device completes the drilling, cable threading / anchor bolt insertion and grouting operations, the traveling cylinder is activated to lower the traveling mechanism, lift the integrated working device off the ground, start the mounting and dismounting tractors, and drag the integrated working device to the next workstation.

[0078] (4) Figure 7 and Figure 8 As shown, after the construction of all anchor rods or anchor cables on slope A is completed, the integrated working device is towed to the tractor on horse trail ②, and then the tractor's revolving platform rotates, and then the integrated working device is lowered to slope B, and the tractor on horse trail ① is transferred to horse trail ③ to carry out the anchoring operation on slope B.

[0079] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A flexible slope drilling, anchoring and grouting integrated operation system, characterized in that: It includes an upper tractor, an integrated working device and a lower tractor. The upper tractor is arranged on the upper horseway, the lower tractor is arranged on the lower horseway, and the integrated working device is arranged on the working slope. The upper tractor and the lower tractor respectively pull and fix the integrated working device at the working position through steel wire ropes. The integrated working device is provided with multiple working devices required for slope support operations, and the multiple working devices are switched on the integrated working device by rotation.

2. The flexible slope drilling, anchoring and grouting integrated operation system according to claim 1 is characterized in that: The upper tractor and the lower tractor both include a traveling chassis, a rotating platform and a hoisting device. The traveling chassis is used to enable the tractor to travel. The rotating platform is arranged on the traveling chassis and can realize rotation in a horizontal plane. The hoisting device is arranged on the rotating platform and realizes traction of the integrated working device through a steel wire rope.

3. The flexible slope drilling, anchoring and grouting integrated operation system according to claim 2 is characterized in that: The revolving platform is provided with an inclined plate and a plate cylinder, one end of the inclined plate is hinged to the side of the revolving platform, one end of the plate cylinder is hinged to the revolving platform, and the other end is hinged to the inclined plate.

4. The flexible slope drilling, anchoring and grouting integrated operation system according to claim 2 is characterized in that: The hoisting device comprises a hoist and a guide pulley assembly, wherein the hoist is used to realize the retraction and release of the steel wire rope, and the guide pulley assembly is used to realize the guidance of the retraction and release of the steel wire rope.

5. The flexible slope drilling, anchoring and grouting integrated operation system according to any one of claims 1 to 4, characterized in that: The integrated working device includes a lower support, an internal rotating cylinder and a walking mechanism. An outer shell is arranged on the top of the lower support. The internal rotating cylinder is located in the outer shell and is rotatably connected with the outer shell. The internal rotating cylinder is driven to rotate by a rotary drive mechanism, and the rotary axis is perpendicular to the lower support. The walking mechanism is respectively arranged on both sides of the lower support, and the walking mechanism includes walking wheels.

6. The flexible slope drilling, anchoring and grouting integrated operation system according to claim 5 is characterized in that: The rotary drive mechanism includes a three-in-one motor, a small gear and a large gear. The three-in-one motor is installed on the outer shell. The small gear is connected to the output end of the three-in-one motor. The large gear is sleeved on the outer wall of the internal rotating cylinder. The small gear and the large gear are meshed with each other for transmission.

7. The flexible slope drilling, anchoring and grouting integrated operation system according to claim 5 is characterized in that: The lower support is provided with a travel cylinder which is connected to the travel mechanism and is used to change the relative height between the travel wheel and the lower support so as to achieve contact or separation between the bottom of the lower support and the slope.

8. The flexible slope drilling, anchoring and grouting integrated operation system according to claim 5 is characterized in that: The multiple working devices on the integrated working device are evenly distributed on the top of the internal rotating cylinder along the circumferential direction, and the working devices on the integrated working device include a rock drill, a hole cleaning device, a rod insertion device, a cable threading device and a grouting device.

9. The flexible slope drilling, anchoring and grouting integrated operation system according to any one of claims 1 to 4, characterized in that: The upper tractor and the lower tractor are both provided with a vehicle-mounted crane.

10. A slope drilling, anchoring and grouting integrated operation method, using the flexible slope drilling, anchoring and grouting integrated operation system according to any one of claims 1 to 9, characterized in that: The following steps are involved: Step 1: The tractors for the upper and lower roads on the slope are in place, the integrated working device is lowered to the slope surface by the upper road tractor, and the steel wire rope of the lower road tractor is connected to arrange the integrated working device in the anchoring position; Step 2: Use the integrated operation device to perform drilling, hole cleaning, rod insertion / cable threading, and grouting operations. After the current operation station is completed, the integrated operation device is moved to the next operation station by the tractor and the wire rope is retracted and released to continue the reinforcement operation until the reinforcement operation of the current slope is completed; Step 3: Pull the integrated working device onto the tractor on the lower horseway, untie the wire rope of the tractor on the upper horseway, retract the wire rope onto the drum, and then transfer the tractor to the horseway at the bottom of the next level of slope; Step 4. Repeat steps 1 to 3 until all slope reinforcement operations are completed.

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