Tunnel anchoring construction integrated device

Abstract

The invention relates to the technical field of tunnel tunneling, and particularly discloses a tunnel anchoring construction integrated device which comprises a drilling anchor propelling beam, the drilling anchor propelling beam is provided with a drilling anchor propelling table and a first linear propelling assembly, and the first linear propelling assembly pushes the drilling anchor propelling table to move along the drilling anchor propelling beam; a drilling machine is mounted on the drilling and anchoring propelling table; the output end of the drilling machine is detachably connected with a drilling rod; the first manipulator is used for disassembling and moving the drill rod; the second manipulator is used for aligning the grouting pipe to the output end of the drilling machine; and the third manipulator is used for aligning the anchor rod to the output end of the drilling machine. After being aligned with a punching position, the device is always aligned with an anchoring hole, and follow-up instrument replacement is completed through a mechanical arm. The problem that in the background technology, the position of an anchoring hole needs to be repositioned when an instrument is replaced, and then efficiency is low is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel excavation, and in particular to an integrated device for tunnel anchoring construction. Background Art

[0002] Tunnel excavation refers to the process of loosening, crushing, excavating, and transporting the excavated soil or rock during tunnel construction. It is widely used in water conservancy projects for water diversion, drainage, diversion, transportation, and other tunnel construction.

[0003] Anchoring means that steel bars are wrapped in concrete to strengthen the connection between concrete and steel bars, making the rock wall stronger. The purpose is to enable the two to work together to bear various stresses (working together to withstand pressure, tension, bending moment, torque, etc. generated by various loads).

[0004] The anchoring process is: 1. Drilling: Use a drilling rig to drill anchor holes on the rock wall first; 2. Grouting: Aim the grouting pipe at the anchor hole and inject concrete slurry into the anchor hole; 3. Anchoring: Before the concrete has completely solidified, inject the anchor rod into the anchor hole and wait for the concrete to solidify.

[0005] Currently, the three-step process of anchoring (drilling, grouting and anchoring) all uses different instruments. The instruments are replaced manually, and the replacement process takes a long time. Most importantly, when the instrument is replaced and proceeds to the next step, the instrument needs to be repositioned and the grouting pipe or anchoring equipment needs to be realigned with the anchor hole, which is inefficient. Summary of the Invention

[0006] The object of the present invention is to provide an integrated device for tunnel anchoring construction, so as to solve the problem in the background art that the position of the anchor hole needs to be repositioned when replacing the equipment, thereby resulting in low efficiency.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is: A tunnel anchoring construction integrated device includes a drilling and anchor propulsion beam, which is equipped with a drilling and anchor propulsion platform and a first linear propulsion component, and the first linear propulsion component propels the drilling and anchor propulsion platform to move along the drilling and anchor propulsion beam; a drilling rig is installed on the drilling and anchor propulsion platform, and the output end of the drilling rig is detachably connected to a drill rod; it also includes a first manipulator, which is used to disassemble and move the drill rod; it also includes a second manipulator, which is used to align a grouting pipe with the output end of the drilling rig; it also includes a third manipulator, which is used to align an anchor rod with the output end of the drilling rig.

[0008] Furthermore, the detachable connection is: the output end of the drilling rig is provided with an internal thread, and the rear end of the drill rod is provided with an external thread, and the internal thread is engaged with the external thread to complete the connection between the output end of the drilling rig and the rear end of the drill rod.

[0009] Furthermore, the first manipulator includes a first mounting seat, a first oil cylinder and a first swing arm, the driving end of the first oil cylinder and the rear end of the first swing arm are respectively hinged to the first mounting seat, the output end of the first oil cylinder is hinged to the front end of the first swing arm, and driving the first oil cylinder can adjust the pitch angle of the first swing arm; it also includes a second oil cylinder and a first finger, the first finger is hinged to the front end of the first swing arm, the driving end of the second oil cylinder is hinged to the first swing arm, the output end of the second oil cylinder is hinged to the first finger, and driving the second oil cylinder can adjust the opening and closing angle of the first finger, so that the first finger cooperates with the first swing arm to complete the grasping and fixing of the drill rod.

[0010] Furthermore, the second manipulator includes a second mounting base, a third oil cylinder and a second swing arm. The driving end of the second oil cylinder and the second swing arm are respectively hinged to the second mounting base. The output end of the second oil cylinder is hinged to the rear end of the second swing arm. Driving the second oil cylinder can adjust the pitch angle of the second swing arm; the grouting pipe is arranged on the second swing arm.

[0011] Furthermore, the second manipulator also includes a fourth oil cylinder and a second locking finger, and the second locking finger is hinged on the second swing arm; the driving end of the fourth oil cylinder is hinged on the second swing arm, and the output end of the fourth oil cylinder is hinged to the rear end of the second locking finger. Driving the fourth oil cylinder can adjust the opening and closing angle of the second locking finger; a third locking finger is also provided at the front end of the second swing arm, and adjusting the opening and closing angle of the second locking finger can make the second and third locking fingers clamp or loosen the grouting pipe.

[0012] Furthermore, the third manipulator includes a third mounting base, on which a first linear cylinder is mounted, a U-shaped clamp is mounted on the output end of the first linear cylinder, the opening of the U-shaped clamp faces the drill rod, and the U-shaped clamp is provided with a plurality of anchor rods placed side by side; the lower end face of the U-shaped clamp is longer than the upper end face, and the upper end face of the U-shaped clamp is provided with a first fixed mechanical claw and a second fixed mechanical claw side by side, the buckling position of the first fixed mechanical claw is forward, and the buckling position of the second fixed mechanical claw is backward, so that when the first fixed mechanical claw buckles the first anchor rod in front, the second fixed mechanical claw can buckle the second anchor rod in front; a second linear cylinder is mounted on the U-shaped clamp, the output end of the second linear cylinder is located in the U-shaped clamp, and the second linear cylinder is used to push the anchor rod to move toward the opening direction of the U-shaped clamp.

[0013] Furthermore, it also includes a limit box, which is a rectangular box-shaped structure with openings on the front side and right side of the limit box; the limit box is fixedly installed at the rear end of the drilling and anchoring arm, and one end of the multiple anchor rods in the U-shaped clamp is placed in the limit box, and one end of the multiple anchor rods is against the left inner wall of the limit box, which is used to limit and align the anchor rods; the front end of the drilling and anchor advancing beam is equipped with a drilling and anchor clamping and fixing platform for clamping and supporting the drill rod; the anchor advancing platform and the drilling and anchor clamping and fixing platform are respectively equipped with a movable clamp, which can be opened and closed to clamp or loosen the anchor rod.

[0014] Furthermore, it also includes a drilling and anchoring arm, one end of which is connected to the rotating ring through a first rotating cylinder, and the other end of the drilling and anchoring arm is connected to the drilling and anchoring arm through a second rotating cylinder; it also includes a slide, which is located on the surface of the drilling and anchoring arm, and a second linear pushing component is installed in the drilling and anchoring arm, and the second linear pushing component drives the slide to move along the drilling and anchoring arm; the drilling and anchor pushing platform is fixedly installed on the slide.

[0015] Furthermore, it also includes a driving shaft, the rotating ring is installed on the driving shaft, and the driving shaft controls the rotating ring to rotate, so that the drilling and anchoring arm rotates along the circumference of the driving shaft.

[0016] Compared with the prior art, the present invention has the following advantages and beneficial effects: 1. The drilling and anchoring propulsion beam serves as the positioning point, and the output end of the drilling rig is always aligned with the anchor hole. During the subsequent grouting and anchoring processes, the first linear propulsion assembly propels the drilling and anchoring propulsion platform and drilling rig, eliminating the need for repositioning and improving overall anchoring efficiency. The present invention includes a drilling rig, a second manipulator for controlling the grouting pipe, and a third manipulator for controlling the anchor. This invention can complete the integrated operations of drilling, grouting, and anchoring.

[0017] 2. Driving the second hydraulic cylinder adjusts the opening and closing angle of the first locking finger, enabling it to cooperate with the first swing arm to grasp and secure the drill rod. This grasping and securing is done for the purpose of removing or installing the drill rod. Using the internal threads at the drill rig's output end and the external threads at the rear end of the drill rod, the first locking finger cooperates with the first swing arm to grasp and secure the drill rod. The drill rig is then reversed and the first linear assembly is controlled to slightly retreat the drill anchor fixture and the drill rig, completing the removal of the drill rod. Conversely, the removed drill rod can be reinstalled.

[0018] 3. The upper end of the U-shaped clamp is equipped with a first and second fixed mechanical claws, with the first fixed mechanical claw clamping forward and the second fixed mechanical claw clamping backward. A second linear cylinder at the rear end of the U-shaped clamp pushes the anchor rod forward as a whole. Once the anchor rod is pushed to the axial position at the output end of the drilling rig, the first and second fixed mechanical claws are simultaneously engaged, securing the first and second anchor rods at the front end of the remaining anchor rods, thus preventing excessive bolts from being pushed out.

[0019] 4. The first rotary cylinder and the second rotary cylinder are respectively installed at both ends of the drilling and anchoring arm in this structure. The first rotary cylinder and the second rotary cylinder rotate the same angle in opposite directions, so that the drilling and anchoring arm can be moved forward without changing its original direction to reach the advanced support position.

[0020] 5. The driving shaft controls the rotating ring to rotate, so that the drilling and anchoring arm rotates along the circumference of the driving shaft. The drilling and anchoring arm adjusts its circumferential position and can anchor any position of the rock wall. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a perspective view of the present invention as a whole.

[0022] Figure 2 It is a side view of the entire invention.

[0023] Figure 3 for Figure 1 Enlarged view of point A.

[0024] Figure 4 A side view of the first manipulator.

[0025] Figure 5 This is a three-dimensional diagram of the first manipulator.

[0026] Figure 6 A side view of the second manipulator.

[0027] Figure 7 This is a three-dimensional diagram of the second robot.

[0028] Figure 8 This is a three-dimensional diagram of the third robot.

[0029] Figure 9 This is a side view of the third manipulator.

[0030] Figure 10 This is the front view of the third manipulator.

[0031] Figure 11 This is the coordination diagram between the third manipulator and the anchor rod.

[0032] Figure 12 This is a diagram of the coordination between the second manipulator and the grouting pipe.

[0033] Figure 13 This is a structural diagram of the present invention connected to a trolley.

[0034] The meanings of the numbers in the figure are: 1-Drilling and anchoring propulsion beam, 2-Drilling and anchoring propulsion platform, 3-Drilling rig, 4-Drill rod, 5-first manipulator, 501-first base, 502-first oil cylinder, 503-first swing arm, 504-second oil cylinder, 505-first finger, 6-second manipulator, 601-second mounting base, 602-third oil cylinder, 603-second swing arm, 604-fourth oil cylinder, 605-second snap finger, 606-third snap finger, 7-third manipulator, 701-third mounting base, 702-first linear cylinder, 703-U-shaped clamp, 704-first fixed mechanical claw, 705-second fixed mechanical claw, 706-second linear cylinder, 8- grouting pipe, 9- anchor rod, 10- limit box, 11- drilling and anchoring arm, 12- first rotary cylinder, 13- rotating ring, 14- second rotary cylinder, 15- drilling and anchoring arm, 16- sliding table, 17- drilling and anchoring clamping fixed table, 18- movable clamp, 19- driving shaft. DETAILED DESCRIPTION

[0035] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention, so as to have a further understanding of the concept of the present invention, the technical problems solved, the technical features constituting the technical solutions and the technical effects brought about.

[0036] like Figure 1-Figure 3 As shown, an integrated tunnel anchoring construction device includes a drilling and anchor propulsion beam 1, which is equipped with a drilling and anchor propulsion platform 2 and a first linear propulsion component, and the first linear propulsion component propels the drilling and anchor propulsion platform 2 to move along the drilling and anchor propulsion beam 1; a drilling rig 3 is installed on the drilling and anchor propulsion platform 2, and the output end of the drilling rig 3 is detachably connected to a drill rod 4; it also includes a first manipulator 5, the first manipulator 5 is used to disassemble and move the drill rod 4; it also includes a second manipulator 6, the second manipulator 6 is used to align the grouting pipe 8 with the output end of the drilling rig 3; it also includes a third manipulator 7, the third manipulator 7 is used to align the anchor rod 9 with the output end of the drilling rig 3.

[0037] During the anchoring process, the present invention uses the drilling and anchoring propulsion beam 1 as a positioning point. The axial directions of the drilling and anchoring propulsion beam 1 and the drilling rig 3 are always aligned with the anchoring hole. After the anchoring hole is drilled, the first manipulator 5 is used to disassemble the drill rod 4 and move it to the side of the drilling and anchoring propulsion beam 1, leaving space. The second manipulator 6 moves the grouting pipe 8 to the axial position of the output end of the drilling rig 3, pushes the drilling and anchoring propulsion platform 2 and the drilling rig 3 through the first linear push component, pushes the grouting pipe 8 into the anchoring hole, and starts the grouting equipment connected to the rear end of the grouting pipe 8 to complete the grouting in the anchoring hole. After the grouting is completed, the second manipulator 6 moves the grouting pipe 8 to the side, leaving space, and the third manipulator 7 grabs the anchor rod 9 to the axial position of the output end of the drilling rig 3. The drilling and anchoring propulsion platform 2 and the drilling rig 3 are pushed again through the first linear push component to push the anchor rod 9 into the anchoring hole filled with concrete, and the anchoring is completed by waiting for the concrete to solidify. The drilling and anchor propulsion beam 1 is used as the positioning point, and the output end of the drilling rig 3 is always aligned with the anchor hole. During the subsequent grouting and anchor rod driving 9, the drilling and anchor propulsion platform 2 and the drilling rig 3 are pushed by the first linear pushing component, and no repositioning is required, thereby improving the overall anchoring efficiency.

[0038] It should be noted that the grouting pipe 8 itself is a hard pipe, and the rear end of the grouting pipe 8 is connected to the grouting equipment through a hose. The drilling rig 3 moves forward and completes the advancement of the grouting pipe 8 by pushing the hard pipe part of the grouting pipe 8. The hose can be connected from the side of the rear end of the grouting pipe 8 to close the rear end of the grouting pipe 8, and the advancement can be completed from the closed part of the rear end; the hose can also be connected directly from the rear end, and after the connection, the hose is pulled out from the side, and the hard pipe is pushed inward by squeezing the hose part. The extrusion of the motor will not squeeze the cartilage into a closed state. After the drill rod 4 drills the anchor hole, the drill rod 4 can be pulled out by the drilling rig 3. The anchor rod 9 does not need to be pulled out after being pushed in. The grouting pipe 8 needs to be pulled out backward after being pushed forward, but the grouting pipe 8 and the drilling rig 3 are only in abutment and pushing relationship. The withdrawal of the grouting pipe 8 is mainly manual removal, or the grouting pipe 8 is withdrawn by pulling the hose outward from the rear. Linear propulsion is a very common function in the mechanical field. The first linear propulsion component in this structure can be of various structures. It can be a linear cylinder or oil cylinder to push the drilling and anchor fixing platform to complete linear movement, or it can be a screw rod to complete the linear movement of the drilling and anchor fixing platform.

[0039] Furthermore, the detachable connection is as follows: the output end of the drill rig 3 is provided with an internal thread, and the rear end of the drill rod 4 is provided with an external thread, and the internal thread engages with the external thread to complete the connection between the output end of the drill rig 3 and the rear end of the drill rod 4. The internal thread and the external thread are provided separately, which can facilitate disassembly.

[0040] like Figure 4 、 5As shown, further, the first manipulator 5 includes a first mounting seat, a first cylinder 502 and a first rocking arm 503, the driving end of the first cylinder 502 and the rear end of the first rocking arm 503 are respectively hinged to the first mounting seat, the output end of the first cylinder 502 is hinged to the front end of the first rocking arm 503, and driving the first cylinder 502 can adjust the pitch angle of the first rocking arm 503; it also includes a second cylinder 504 and a first finger 505, the first finger 505 is hinged to the front end of the first rocking arm 503, the driving end of the second cylinder 504 is hinged to the first rocking arm 503, the output end of the second cylinder 504 is hinged to the first finger 505, and driving the second cylinder 504 can adjust the opening and closing angle of the first finger 505, so that the first finger 505 cooperates with the first rocking arm 503 to complete the grasping and fixing of the drill rod 4. The first manipulator 5 is driven by a first cylinder 502 and a second cylinder 504. Driving the first cylinder 502 adjusts the pitch angle of the first rocker arm 503, primarily for moving the drill rod 4 outward or from the outside to the axial position at the output end of the drilling rig 3 to complete disassembly or installation. Driving the second cylinder 504 adjusts the opening and closing angle of the first locking finger 505, allowing the first locking finger 505 to cooperate with the first rocker arm 503 to grasp and secure the drill rod 4. This grasping and securing is completed for disassembly or installation. Based on the internal thread at the output end of the drilling rig 3 and the external thread at the rear end of the drill rod 4, after the first locking finger 505 cooperates with the first rocker arm 503 to grasp and secure the drill rod 4, the drilling rig 3 reverses and controls the first linear assembly to slightly retreat the drill anchor fixing platform and the drilling rig 3, completing the disassembly of the drill rod 4. Conversely, the disassembled drill rod 4 can be reinstalled.

[0041] like Figure 6 、 7 As shown, further, the second manipulator 6 includes a second mounting base 601, a third oil cylinder 602, and a second swing arm 603. The driving end of the second oil cylinder 504 and the second swing arm 603 are respectively hinged to the second mounting base 601. The output end of the second oil cylinder 504 is hinged to the rear end of the second swing arm 603. Driving the second oil cylinder 504 can adjust the pitch angle of the second swing arm 603; the grouting pipe 8 is arranged on the second swing arm 603. The function to be completed by the second manipulator 6 is to move the grouting pipe 8 to the axial position of the output end of the drilling rig 3, and then move the grouting pipe 8 back to its original position, leaving space for the axial position of the output end of the drilling rig 3. Driving the second oil cylinder 504 can adjust the pitch angle of the second swing arm 603, thereby completing the above functions.

[0042] Furthermore, the second manipulator 6 also includes a fourth oil cylinder 604 and a second locking finger 605, and the second locking finger 605 is hinged on the second swing arm 603; the driving end of the fourth oil cylinder 604 is hinged on the second swing arm 603, and the output end of the fourth oil cylinder 604 is hinged to the rear end of the second locking finger 605. Driving the fourth oil cylinder 604 can adjust the opening and closing angle of the second locking finger 605; the front end of the second swing arm 603 is also provided with a third locking finger 606. Adjusting the opening and closing angle of the second locking finger 605 can make the second locking finger 605 and the third locking finger 606 clamp or loosen the grouting pipe 8. Adjusting the opening and closing angle of the second finger 605 can clamp or loosen the grouting pipe 8. During use, it is usually not necessary to loosen the grouting pipe 8. When the drilling rig 3 is pushed forward and the grouting pipe 8 is pushed forward, the second manipulator 6 is needed to limit the grouting pipe 8, but it cannot be completely clamped. Therefore, the fourth oil cylinder 604 can be driven to slightly adjust the opening and closing angle of the second finger 605 so that the grouting pipe 8 can slide into the anchor hole.

[0043] like Figure 8-10As shown, further, the third manipulator 7 includes a third mounting base 701, a first linear cylinder 702 is mounted on the third mounting base 701, a U-shaped clamp 703 is mounted on the output end of the first linear cylinder 702, the opening of the U-shaped clamp 703 faces the drill rod 4, and the U-shaped clamp 703 is provided with a plurality of anchor rods 9 placed side by side; the lower end surface of the U-shaped clamp 703 is longer than the upper end surface, and the upper end surface of the U-shaped clamp 703 is provided with a first fixed mechanical claw 704 and a second fixed mechanical claw 704 side by side. 5. The first fixed mechanical claw 704 is positioned forward, while the second fixed mechanical claw 705 is positioned backward. This allows the second fixed mechanical claw 705 to engage the second anchor rod 9 while the first fixed mechanical claw 704 engages the first anchor rod 9. A second linear cylinder 706 is mounted on the U-shaped clamp 703. The output end of the second linear cylinder 706 is located within the U-shaped clamp 703 and is used to push the anchor rod 9 toward the opening of the U-shaped clamp 703. The two second manipulators 6 move the grouting pipe 8 to the side to make room. The first linear cylinder 702 then pushes the U-shaped clamp 703 toward the original position of the drill rod 4, stopping when it is close to the original position. The upper end surface of the U-shaped clamp 703 is provided with a first fixed mechanical claw 704 and a second fixed mechanical claw 705, with the first fixed mechanical claw 704 positioned forward and the second fixed mechanical claw 705 positioned backward. A second linear cylinder 706 at the rear end of the U-shaped clamp 703 propels the anchor rod 9 forward as a whole. Once the anchor rod 9 is pushed to the axial position of the output end of the drilling rig 3, the first and second fixed mechanical claws 704 and 705 simultaneously engage, securing the first and second anchor rods 9 at the front end of the remaining anchor rods 9 and preventing the excessive force of the remaining anchor rods 9. Once the anchor rod 9 is pushed to the axial position of the output end of the drilling rig 3, the first linear actuator pushes the anchor rod 9 into the anchor hole, completing the third step of the anchoring process. Both the first and second fixed mechanical claws 704 and 705 are mechanical claws driven by conventional cylinders, and the cylinders' extension and retraction enable the clamping of the first and second fixed mechanical claws 704 and 705.

[0044] like Figure 11 、 Figure 12As shown, the invention further includes a limit box 10, which is a rectangular box-shaped structure with openings on the front and right sides of the limit box 10. The limit box 10 is fixedly mounted on the rear end of the drilling and anchoring arm 15. One end of each of the multiple anchor rods 9 in the U-shaped clamp 703 is placed in the limit box 10, and one end of each of the multiple anchor rods 9 abuts against the left inner wall of the limit box 10, which is used to limit and align the anchor rods 9. The front end of the drilling and anchoring advancing beam 1 is equipped with a drilling and anchor clamping and fixing platform 17 for clamping and supporting the drill rod 4. The anchoring advancing platform and the drilling and anchor clamping and fixing platform 17 are each equipped with a movable clamp 18, which can be opened and closed to clamp or loosen the anchor rod 9. The limit box 10 is used to align the various anchor rods 9. The movable clamp 18 clamps the anchor rods 9 to fix the position of the anchor rods 9 so that the anchor rods 9 are aligned with the axial position of the output end of the drilling rig 3, facilitating advancement into the anchor hole. The loosening of the movable clamp 18 is convenient for the next anchor rod 9 to enter the movable clamp 18. The movable clamp 18 here is electrically driven, and the inside of the movable clamp 18 can be connected by a bidirectional screw rod and a small motor to complete the opening and clamping of the movable clamp 18.

[0045] Furthermore, it also includes a drilling and anchoring arm 11, one end of which is connected to a rotating ring 13 via a first rotary cylinder 12, and the other end of the drilling and anchoring arm 11 is connected to a drilling and anchoring arm 15 via a second rotary cylinder 14; it also includes a slide 16, which is located on the surface of the drilling and anchoring arm 15, and a second linear push component is installed in the drilling and anchoring arm 15, and the second linear push component drives the slide 16 to move along the drilling and anchoring arm 15; the drilling and anchoring propulsion platform 2 is fixedly mounted on the slide 16. During the drilling and splitting process, the rock wall needs to be anchored according to the rock conditions. Currently, the rock wall needs to be anchored behind the excavation trolley, or the excavation trolley withdraws after excavating a certain distance and the rock wall is anchored near the rock surface. The two anchoring methods depend on the firmness of the rock surface. Normally, in a trolley, the anchoring equipment is installed behind the drilling equipment. Drilling and splitting a certain distance before anchoring is the normal state. When encountering a situation where advance support is required, the anchoring equipment needs to be adjusted forward to perform advance support. The first rotary cylinder 12 and the second rotary cylinder 14 are respectively installed at both ends of the drilling and anchoring arm 11 in this structure. The first rotary cylinder 12 and the second rotary cylinder 14 rotate the same angle in opposite directions, so that the drilling and anchoring arm 15 can be moved forward without changing its original direction to reach the advance support position. After the position is advanced, the distance between the drilling and anchoring arm 15 and the rock wall will increase, and the second linear push component will push the slide 16 outward to adjust the distance between the drilling and anchoring arm 15 and the rock wall to a distance that is convenient for construction. Figure 13 It is a structural diagram of the present invention connected to a trolley.

[0046] Furthermore, a driving shaft is included, and the rotating ring 13 is installed on the driving shaft. The driving shaft 19 controls the rotating ring 13 to rotate, so that the drilling and anchoring arm 11 rotates circumferentially along the driving shaft 19. The drilling and anchoring arm 11 adjusts its circumferential position and can anchor any position of the rock wall.

[0047] The structure in which the drive shaft 19 drives the rotating ring 13 to rotate is relatively common in this field. The drive shaft 19 in the present invention can be a power supply shaft, which is connected to the rotating ring 13 by means of a collector ring. The rotating ring 13 itself is internally installed with an electric motor, and the rotating ring 13 is rotated along the power supply shaft by the rotation of the electric motor, such as: a gear is installed at the output end of the electric motor, a gear ring is circumferentially arranged on the power supply shaft, and the gear and the gear ring are engaged to complete the rotation. Another driving method is: the drive shaft 19 is a hydraulic shaft, and the rotating ring 13 itself is internally installed with a hydraulic motor, and the rotating ring 13 is rotated along the power supply shaft by the rotation of the hydraulic motor. The energy is supplied by pulling a hose out of the hydraulic shaft and connecting it to the hydraulic motor for energy supply. The disadvantage is that the rotating ring 13 cannot rotate too much in one direction. From the perspective of the function to be achieved by the present invention, driving it one circle can meet the requirements of the present invention, and the further rotation can be completed by rotating the rotating ring 13.

[0048] The terms "connection" and "fixation" appearing in the description of the present invention may refer to fixed connection, processing and forming, welding, or mechanical connection. The specific meanings of the above terms in the present invention shall be understood according to the specific circumstances.

[0049] In the description of the present invention, the terms "center", "upper", "lower", "horizontal", "inner", "outer", etc., which indicate the orientation or position relationship, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation. Therefore, they should not be understood as limiting the present invention.

[0050] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments can still be modified, or some or all of the technical features therein can be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A tunnel anchoring construction integrated device, characterized in that: It comprises a drilling and anchoring propulsion beam (1), a drilling and anchoring propulsion platform (2) and a first linear propulsion component are installed on the drilling and anchoring propulsion beam (1), and the first linear propulsion component propels the drilling and anchoring propulsion platform (2) to move along the drilling and anchoring propulsion beam (1); A drilling rig (3) is installed on the drilling and anchoring propulsion platform (2), and an output end of the drilling rig (3) is detachably connected to a drill rod (4); It also includes a first manipulator (5), which is used to disassemble and move the drill rod (4); It also includes a second manipulator (6), which is used to align the grouting pipe (8) with the output end of the drilling machine (3); It also includes a third manipulator (7), which is used to align the anchor rod (9) with the output end of the drilling machine (3).

2. The integrated tunnel anchoring construction device according to claim 1, characterized in that: The detachable connection is as follows: the output end of the drilling rig (3) is provided with an internal thread, the rear end of the drill rod (4) is provided with an external thread, and the internal thread is engaged with the external thread to complete the connection between the output end of the drilling rig (3) and the rear end of the drill rod (4).

3. The integrated tunnel anchoring construction device according to claim 2, characterized in that: The first manipulator (5) comprises a first mounting seat, a first oil cylinder (502) and a first swing arm (503), wherein the driving end of the first oil cylinder (502) and the rear end of the first swing arm (503) are respectively hinged to the first mounting seat, and the output end of the first oil cylinder (502) is hinged to the front end of the first swing arm (503), and the pitch angle of the first swing arm (503) can be adjusted by driving the first oil cylinder (502); The invention also includes a second oil cylinder (504) and a first locking finger (505), wherein the first locking finger (505) is hinged to the front end of the first swing arm (503), the driving end of the second oil cylinder (504) is hinged to the first swing arm (503), and the output end of the second oil cylinder (504) is hinged to the first locking finger (505). Driving the second oil cylinder (504) can adjust the opening and closing angle of the first locking finger (505), so that the first locking finger (505) cooperates with the first swing arm (503) to complete the grasping and fixing of the drill rod (4).

4. The integrated tunnel anchoring construction device according to claim 1, characterized in that: The second manipulator (6) comprises a second mounting base (601), a third oil cylinder (602) and a second swing arm (603); the driving end of the second oil cylinder (504) and the second swing arm (603) are respectively hinged to the second mounting base (601); the output end of the second oil cylinder (504) is hinged to the rear end of the second swing arm (603); and the pitch angle of the second swing arm (603) can be adjusted by driving the second oil cylinder (504); The grouting pipe (8) is arranged on the second swing arm (603).

5. The integrated tunnel anchoring construction device according to claim 4, characterized in that: The second manipulator (6) further comprises a fourth oil cylinder (604) and a second locking finger (605), wherein the second locking finger (605) is hinged to the second swing arm (603); the driving end of the fourth oil cylinder (604) is hinged to the second swing arm (603), and the output end of the fourth oil cylinder (604) is hinged to the rear end of the second locking finger (605), and the opening and closing angle of the second locking finger (605) can be adjusted by driving the fourth oil cylinder (604); The front end of the second swing arm (603) is further provided with a third locking finger (606), and by adjusting the opening and closing angle of the second locking finger (605), the second locking finger (605) and the third locking finger (606) can clamp or loosen the grouting pipe (8).

6. The integrated tunnel anchoring construction device according to claim 1, characterized in that: The third manipulator (7) includes a third mounting base (701), a first linear cylinder (702) is mounted on the third mounting base (701), a U-shaped clamp (703) is mounted on the output end of the first linear cylinder (702), the opening of the U-shaped clamp (703) faces the drill rod (4), and the U-shaped clamp (703) is provided with a plurality of anchor rods (9) placed side by side; The lower end face of the U-shaped clamp (703) is longer than the upper end face, and the upper end face of the U-shaped clamp (703) is provided with a first fixed mechanical claw (704) and a second fixed mechanical claw (705) side by side, the first fixed mechanical claw (704) is located at a forward position, and the second fixed mechanical claw (705) is located at a backward position, so that when the first fixed mechanical claw (704) is located at a forward first anchor rod (9), the second fixed mechanical claw (705) can be located at a forward second anchor rod (9); A second linear cylinder (706) is mounted on the U-shaped clamp (703), an output end of the second linear cylinder (706) is located inside the U-shaped clamp (703), and the second linear cylinder (706) is used to push the anchor rod (9) to move toward the opening direction of the U-shaped clamp (703).

7. The integrated tunnel anchoring construction device according to claim 6, characterized in that: The invention also includes a limit box (10), which is a rectangular box-shaped structure, and the front side and right side of the limit box (10) are open; the limit box (10) is fixedly mounted on the rear end of the drilling anchor arm (15), and one end of the plurality of anchor rods (9) in the U-shaped clamp (703) is placed in the limit box (10), and one end of the plurality of anchor rods (9) is abutted against the left inner wall of the limit box (10), so as to limit and align the anchor rods (9); A drill anchor clamping and fixing platform (17) is installed at the front end of the drill anchor propulsion beam (1) for clamping and supporting the drill rod (4); A movable clamp is respectively installed on the anchoring propulsion platform and the drilling anchor clamping and fixing platform (17). The movable clamp can be opened and closed to clamp or loosen the anchor rod (9).

8. The integrated tunnel anchoring construction device according to claim 1, characterized in that: It also includes a drilling and anchoring arm (11), one end of which is connected to a rotating ring (13) via a first rotating cylinder (12), and the other end of which is connected to a drilling and anchoring arm (15) via a second rotating cylinder (14); It also includes a slide (16), the slide (16) is located on the surface of the drilling and anchoring arm (15), and a second linear push component is installed in the drilling and anchoring arm (15), and the second linear push component drives the slide (16) to move along the drilling and anchoring arm (15); The drilling and anchoring propulsion platform (2) is fixedly mounted on the sliding platform (16).

9. The integrated tunnel anchoring construction device according to claim 8, characterized in that: It also includes a driving shaft, the rotating ring (13) is installed on the driving shaft (19), and the driving shaft (19) controls the rotating ring (13) to rotate, so that the drilling anchor arm (11) rotates along the circumference of the driving shaft.

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