High slope drilling, grouting and anchoring integrated multifunctional trolley working device

Abstract

The invention relates to the technical field of high slope anchor rod supporting construction equipment, in particular to a high slope drilling, grouting and anchoring integrated multifunctional trolley working device which comprises a device body. The device body is composed of a front-end drill rod lifter, a drill rod, a first mechanical arm, a grouting pipe clamping mechanism, a grouting pipe, a second mechanical arm, a propelling beam fixing section, an anchor rod library, a bolting and grouting module, a drilling module, a rotary seat, a propelling beam rotary section, a rotary motor, a compensation oil cylinder, a mounting base, a pitching oil cylinder, a third mechanical arm and an assembly type sliding assembly. The sliding supporting assembly is composed of a sliding supporting assembly and a center oil cylinder assembly. According to the high slope drilling, grouting and anchoring integrated multifunctional trolley working device, the center oil cylinder assembly is introduced below the fixed propelling beam, the overall stability of the working device is enhanced, impact during drilling is weakened, and the hole alignment precision is improved; the propelling beam is divided into a fixed section and a rotary section, so that the hole alignment deviation caused by rotary station switching of the double propelling beams is reduced.

Description

Technical Field

[0001] This invention relates to the technical field of high slope anchor support construction equipment, and in particular to a multi-functional trolley working device integrating drilling, grouting and anchoring for high slopes. Background Technology

[0002] High slope anchor support construction is a highly technical and quality-critical geotechnical engineering operation. Its core requirements are ensuring the long-term stability of the slope and the safety of the construction process. Currently, high slope anchor support construction in China still involves a series of steps: scaffolding erection, manual drilling with auxiliary equipment, manual installation of anchor bolts, and manual grouting. While some drilling processes have been replaced by anchor drilling rigs, the current practice of phased construction and separation of procedures still persists.

[0003] Manually assisted drilling and anchor installation not only result in poor hole quality and inability to guarantee accuracy, but also lead to extremely low efficiency, extended construction period, significant safety risks, and poor ability to cope with complex geological conditions.

[0004] Manual grouting typically relies on simple grouting buckets that flow by gravity, or on manual grouting pumps. The pressure used is incomparable to that of mechanical grouting pumps and is extremely unstable.

[0005] Insufficient pressure prevents the grout from fully penetrating into the fissures of the soil and rock mass, and also prevents it from effectively splitting the soil mass to form an enlarged head (in secondary grouting), severely weakening the anchoring force.

[0006] Unstable pressure cannot guarantee the continuity and fullness of grouting.

[0007] Due to low and unsustainable pressure, the grout cannot completely expel air and moisture from the hole, easily forming voids around the anchor bolt.

[0008] Cavities leave the anchor rod unprotected, exposing it to direct contact with air and water, leading to severe corrosion and significantly shortening its service life. Simultaneously, the effective contact area between the anchor rod and the soil / rock mass decreases, resulting in a marked reduction in anchoring force.

[0009] During construction, there were also problems such as non-standard anchor insertion depth, low and uncontrollable grouting pressure, inability of grout to effectively penetrate into rock fissures, low construction efficiency, high manual involvement, and high labor intensity. These issues resulted in poor anchor construction quality, which severely weakened the slope reinforcement capacity. Anchor construction is a hidden project, making subsequent inspection and repair difficult.

[0010] Currently, there is a design for integrated drilling, grouting, and anchoring construction using a dual-propulsion beam and dual-independent drive system. However, this system is complex in structure, has high manufacturing costs and maintenance difficulties, and is not very efficient in drilling. Summary of the Invention

[0011] The technical problem to be solved by this invention is that the current integrated drilling, grouting and anchoring construction system with dual propulsion beams and dual independent drive has a complex structure, high manufacturing cost and maintenance difficulty, and low hole-fixing efficiency.

[0012] The technical solution adopted by the present invention to solve its technical problem is: a multi-functional trolley working device integrating drilling, grouting and anchoring on high slopes, including a device body, the device body being composed of a front-end drill bit holder, drill rod, first manipulator, grouting pipe clamping mechanism, grouting pipe, second manipulator, fixed section of propulsion beam, anchor bolt magazine, anchoring module, drilling module, rotary seat, rotary section of propulsion beam, rotary motor, compensation cylinder, mounting base, pitch cylinder, third manipulator, assembled sliding assembly, sliding support assembly and top cylinder assembly.

[0013] The fixed section of the propulsion beam is installed above the prefabricated sliding assembly. A rotary motor and a rotary seat are set at the rear end of the prefabricated sliding assembly. The rotary seat is connected to the drilling module and the anchoring module respectively through the two rotary sections of the propulsion beam. The drilling module can drive the drill rod to rotate and move axially. The rotary motor can drive the drilling module and the anchoring module to switch back and forth between the drilling position and the anchoring position by rotating.

[0014] Two sets of grouting pipe clamping mechanisms, a first robotic arm, and a second robotic arm are provided on the right side of the fixed section of the propulsion beam in the width direction. The grouting pipe clamping mechanism is used to clamp the grouting pipe to keep it in the non-grouting position. The first robotic arm and the second robotic arm can grab the grouting pipe in the non-grouting position and drive the grouting pipe to switch back and forth between the non-grouting position and the grouting position. The anchor bolt magazine is also set on the right parallel side of the axial direction of the fixed section of the propulsion beam, and the anchor bolt magazine is located on the same side as the first robotic arm and the second robotic arm. The first robotic arm and the second robotic arm can also grab the anchor bolt loaded in the anchor bolt magazine and drive the anchor bolt to the anchor bolt hole position.

[0015] The anchor bolt magazine includes a support one, an anchor bolt magazine rotary motor, an anchor bolt chuck, a rotating shaft, an anchor bolt, and a support two. The anchor bolt magazine rotary motor is mounted on the rotating shaft and is used to enable the rotating shaft to rotate around its own axis. There are multiple anchor bolt chucks arranged along the length of the rotating shaft.

[0016] The fixed section of the propulsion beam is equipped with a front-end support device at its front end and a third robotic arm on its left side in the width direction. The front-end support device and the third robotic arm are used to switch the drill rod back and forth between the drilling position and the idle position. By arranging the front-end support device and the third robotic arm, the drill rod can be supported at the drilling position, ensuring the accuracy of the drill rod drilling. When the rock drill advances to drill, the drill rod is always supported by the front-end support device. When the rock drill approaches the third robotic arm, the third robotic arm needs to give way and will switch to a non-support position. The grouting pipe and anchor rod are both supported by the first robotic arm and the second robotic arm. During the propulsion process, the first robotic arm and the second robotic arm will give way and swing apart.

[0017] The sliding support assembly is located on the bottom side of the assembled sliding assembly. The assembled sliding assembly can slide back and forth by a compensation cylinder installed on the sliding support assembly. A center cylinder assembly is also provided at the front end of the sliding support assembly.

[0018] A pitch cylinder is also provided between the mounting base and the sliding support assembly. One end of the pitch cylinder is connected to the mounting base through a hinge, and the other end is connected to the sliding support assembly through a hinge. The pitch of the entire working device can be achieved by the extension and retraction movement of the pitch cylinder.

[0019] The anchor bolt magazine is assembled on the right parallel side of the axial direction of the fixed section of the propulsion beam through the fixed mounting brackets at the bottom of support one and support two.

[0020] The rotary motor of the anchor bolt magazine is fixedly installed on the shaft cylinder on the inner wall of the support.

[0021] The upper end of the sliding support assembly is provided with a telescopic movement groove for installing the compensation cylinder.

[0022] The beneficial effects of this invention are:

[0023] (1) The high slope drilling, injection and anchoring integrated multi-functional trolley working device of the present invention introduces a top cylinder assembly under the fixed propulsion beam to enhance the overall stability of the working device, reduce the impact during drilling and improve the hole accuracy.

[0024] (2) Divide the propulsion beam into a fixed section and a rotating section to reduce the hole alignment deviation caused by the dual propulsion beam rotation switching station;

[0025] (3) The entire process of drilling, grouting and anchor bolt pushing is completed by mechanization, which replaces manual labor and is not only stable, but also safe and efficient. Attached Figure Description

[0026] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0027] Figure 1 This is a schematic diagram of the structure of the present invention.

[0028] Figure 2 This is a structural schematic diagram of the anchor bolt library in this invention.

[0029] In the diagram: 1. Front-end drill bit holder; 2. Drill rod; 3. First robotic arm; 4. Grouting pipe clamping mechanism; 5. Grouting pipe; 6. Second robotic arm; 7. Fixed section of the propulsion beam; 8. Anchor bolt magazine; 81. Support one; 82. Anchor bolt magazine rotary motor; 83. Anchor bolt chuck; 84. Rotary shaft; 85. Anchor bolt; 86. Support two; 9. Anchoring module; 10. Drilling module; 11. Rotary seat; 12. Rotary section of the propulsion beam; 13. Rotary motor; 14. Compensation cylinder; 15. Mounting base; 16. Pitch cylinder; 17. Third robotic arm; 18. Prefabricated sliding assembly; 19. Sliding support assembly; 20. Center cylinder assembly. Detailed Implementation

[0030] The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic diagrams, illustrating only the basic structure of the invention, and therefore only show the components relevant to the invention.

[0031] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0032] Figure 1 and Figure 2 The embodiment of the present invention shown proposes a multi-functional trolley working device integrating drilling, grouting and anchoring on high slopes, which mainly consists of a front-end drill support 1, drill rod 2, first robotic arm 3, grouting pipe clamping mechanism 4, grouting pipe 5, second robotic arm 6, propulsion beam fixed section 7, anchor bolt magazine 8, anchoring module 9, drilling module 10, rotary seat 11, propulsion beam rotary section 12, rotary motor 13, compensation cylinder 14, mounting base 15, pitch cylinder 16, third robotic arm 17, assembled sliding assembly 18, sliding support assembly 19, and center cylinder assembly 20.

[0033] Among them, the fixed section 7 of the propulsion beam is installed above the assembled sliding assembly 18. The rear end of the assembled sliding assembly 18 is provided with a rotary motor 13 and a rotary seat 11. The rotary seat 11 is connected to the drilling module 10 and the anchoring module 9 respectively through two rotary sections 12 of the propulsion beam. The drilling module 10 can drive the drill rod 2 to rotate and move axially. The rotary motor 13 can drive the drilling module 10 and the anchoring module 9 to switch back and forth between the drilling position and the anchoring position by rotating.

[0034] Two sets of grouting pipe clamping mechanisms 4, a first robotic arm 3, and a second robotic arm 6 are provided on the right side of the width direction of the fixed section 7 of the propulsion beam. The grouting pipe clamping mechanism 4 is used to clamp the grouting pipe 5 to keep it in the non-grouting position. The first robotic arm 3 and the second robotic arm 6 can grab the grouting pipe 5 in the non-grouting position and drive the grouting pipe 5 to switch back and forth between the non-grouting position and the grouting position. The anchor bolt magazine 8 is also set on the right parallel side of the axial direction of the fixed section 7 of the propulsion beam, and the anchor bolt magazine 8 is located on the same side as the first robotic arm 3 and the second robotic arm 6. The first robotic arm 3 and the second robotic arm 6 can also grab the anchor bolts loaded in the anchor bolt magazine 8 and drive the anchor bolts to the anchor bolt hole position.

[0035] The bolt magazine 8 includes a first support 81, a bolt magazine rotary motor 82, a bolt chuck 83, a rotating shaft 84, an anchor bolt 85, and a second support 86. The bolt magazine rotary motor 82 is mounted on the rotating shaft 84 and is used to enable the rotating shaft 84 to rotate around its own axis. There are multiple bolt chucks 83 arranged along the length of the rotating shaft 84.

[0036] A front-end support device 1 is installed at the front end of the fixed section 7 of the propulsion beam, and a third robotic arm 17 is installed on the left side in the width direction. The front-end support device 1 and the third robotic arm 17 are used to switch the drill rod 2 back and forth between the drilling position and the idle position. By arranging the front-end support device 1 and the third robotic arm 17, the drill rod 2 can be supported at the drilling position, ensuring the accuracy of drilling. When the rock drill advances to drill, the drill rod 2 is always supported by the front-end support device 1. When the rock drill approaches the third robotic arm 17, the third robotic arm 17 needs to give way and will switch to a non-support position. In addition, the grouting pipe 5 and the anchor rod are supported by the first robotic arm 3 and the second robotic arm 6. During the propulsion process, the first robotic arm 3 and the second robotic arm 6 will give way and swing apart.

[0037] The sliding support assembly 19 is mounted on the assembled sliding assembly 18. The assembled sliding assembly 18 can slide back and forth through the compensation cylinder 14. The front end of the sliding support assembly 19 is also provided with a center cylinder assembly 20. When the working device is working on the face, the center cylinder assembly 20 extends into the face to press and position the face of the anchor bolt hole to be constructed. This can enhance the overall stability of the working device, reduce the impact during drilling, and improve the hole accuracy.

[0038] According to the angle adjustment requirements, a pitch cylinder 16 is also provided between the mounting base 15 and the sliding support assembly 19. One end of the pitch cylinder 16 is connected to the mounting base 15 through a hinge seat, and the other end is connected to the sliding support assembly 19 through a hinge seat. The pitch of the entire working device can be achieved by the extension and retraction movement of the pitch cylinder 16.

[0039] In its application, this working device utilizes a switching mechanism to switch the drilling module to the drilling position. At the drilling position, the rock drill drives the drill rod 2 to rotate and advance, performing the drilling operation. After the anchor bolt hole drilling is completed, the rock drill retracts its drill rod 2, and the drill rod is switched to an idle position via the front-end drill support 1 and the robotic arm. The switching mechanism then switches the grouting module 9 to the grouting position. The robotic arm grabs the grouting pipe 5 from the non-grouting position and moves it to the grouting position. The grouting module 9 advances and rotates to align with the grouting pipe 5. As the grouting module 9 continues to advance, the front end of the grouting pipe 5 is inserted into the anchor bolt hole. The robotic arm releases and swings away, and the grouting module 9 continues to advance, pushing the grouting pipe 5 to the bottom of the hole. At this point, the grouting operation can be performed. The grouting module 9 contains a pipeline through which grouting material passes, and the grouting pump delivers the grouting material... Grout is pumped through the grouting pipeline and the anchoring module 9 to the grouting pipe 5. After the grouting operation is completed, the anchoring module 9 retracts, and the robot grabs the grouting pipe 5 again. The anchoring module 9 separates from the grouting pipe 5 by rotating, and then the robot sends the grouting pipe 5 to the clamping mechanism 4. The grouting pipe 5 returns to the initial non-grouting position. At this time, the anchor bolt installation operation can be performed. The robot grabs the anchor bolt loaded on the anchor bolt magazine 8 and moves the anchor bolt to the anchor bolt hole position. At this time, the anchoring module 9, which is in the anchor bolt hole position, performs a pushing operation and connects with the anchor bolt. Then, the robot releases the clamping force on the anchor bolt, and the anchoring module 9 continues to push forward, so that the anchor bolt can be inserted into the anchor bolt hole. Finally, the rotation of the anchoring module 9 drives the locking nut of the anchor bolt section to tighten, thus completing the anchor bolt installation operation.

[0040] It can integrate the functions of drilling, grouting and anchor bolt pushing into one, so as to solve the problems of high labor intensity, low efficiency and high safety risks of operators in high slope anchor bolt support.

[0041] Based on the above-described preferred embodiments of the present invention, and through the foregoing description, those skilled in the art can make various changes and modifications without departing from the inventive concept. The technical scope of this invention is not limited to the contents of the specification, but must be determined according to the scope of the claims.

Claims

1. A high slope drilling and anchoring integrated multifunctional trolley working device, comprising a device body, characterized in that: The device body is composed of a front end support drill (1), a drill rod (2), a first mechanical hand (3), a grouting pipe clamping mechanism (4), a grouting pipe (5), a second mechanical hand (6), a push beam fixed section (7), an anchor rod warehouse (8), an anchor grouting module (9), a drilling module (10), a rotary seat (11), a push beam rotary section (12), a rotary motor (13), a compensation oil cylinder (14), a mounting base (15), a pitch oil cylinder (16), a third mechanical hand (17), an assembled sliding assembly (18), a sliding support assembly (19) and a top oil cylinder assembly (20).

2. The high slope drilling and anchoring integrated multifunctional trolley working device according to claim 1, characterized in that: The push beam fixed section (7) is installed above the assembled sliding assembly (18), the rotary motor (13) and the rotary seat (11) are arranged at the rear end of the assembled sliding assembly (18), the rotary seat (11) is connected with the drilling module (10) and the anchor grouting module (9) through two push beam rotary sections (12) respectively, the drilling module (10) can drive the drill rod (2) to rotate and axially extend and retract, and the rotary motor (13) can drive the drilling module (10) and the anchor grouting module (9) to switch back and forth between the drilling station and the anchor grouting station through rotation.

3. The high slope drilling and anchoring integrated multifunctional trolley working device according to claim 1, characterized in that: Two groups of grouting pipe clamping mechanisms (4), first mechanical hands (3) and second mechanical hands (6) are arranged on the right side of the push beam fixed section (7) in the width direction, the grouting pipe clamping mechanism (4) is used for clamping the grouting pipe (5) to keep it in the non-grouting station, the first mechanical hand (3) and the second mechanical hand (6) can grab the grouting pipe (5) in the non-grouting station and drive the grouting pipe (5) to switch back and forth between the non-grouting station and the grouting station, the anchor rod warehouse (8) is also arranged on the axial right parallel side of the push beam fixed section (7), and the anchor rod warehouse (8) is located on the same side as the first mechanical hand (3) and the second mechanical hand (6), and the first mechanical hand (3) and the second mechanical hand (6) can also grab the anchor rod loaded in the anchor rod warehouse (8) and drive the anchor rod to move to the anchor rod hole station.

4. The high slope drilling and anchoring integrated multifunctional trolley working device according to claim 1, characterized in that: The anchor rod warehouse (8) comprises a support one (81), an anchor rod warehouse rotary motor (82), an anchor rod chuck (83), a rotating shaft (84), an anchor rod (85) and a support two (86), the anchor rod warehouse rotary motor (82) is arranged on the rotating shaft (84) and is used for realizing the rotation of the rotating shaft (84) around the axis of the rotating shaft (84), and the number of the anchor rod chucks (83) is plural and arranged along the length direction of the rotating shaft (84).

5. The high slope drilling and anchoring integrated multifunctional trolley working device according to claim 1, characterized in that: The front end of the beam body of the advancing beam fixed section (7) is provided with a front end prop (1), and the left side in the width direction is provided with a third manipulator (17), and the front end prop (1) and the third manipulator (17) are used for switching the drill rod (2) between the drilling station and the idle station, and the front end prop (1) and the third manipulator (17) are arranged, so that the drill rod (2) in the drilling station can be supported, and the accuracy of the drill rod (2) drilling is ensured, and when the rock drill advances to drill, the drill rod (2) is always supported by the front end prop (1), and when the rock drill approaches the third manipulator (17), the third manipulator (17) needs to avoid, and will be switched to the non-supporting station; the grouting pipe (5) and the anchor rod are supported by the first manipulator (3) and the second manipulator (6), and the first manipulator (3) and the second manipulator (6) will avoid and move apart during the advancing process of the pusher.

6. The high slope drilling and anchoring integrated multifunctional trolley working device according to claim 1, characterized in that: The sliding support assembly (19) is arranged at the bottom side of the assembled sliding assembly (18), the assembled sliding assembly (18) can slide forward and backward through the compensation oil cylinder (14) arranged on the sliding support assembly (19), and the sliding support assembly (19) is further provided with a tailstock oil cylinder assembly (20) at the front end.

7. The high slope drilling and anchoring integrated multifunctional trolley working device according to claim 1, characterized in that: The mounting base (15) and the sliding support assembly (19) are further provided with a luffing oil cylinder (16), one end of the luffing oil cylinder (16) is connected with the mounting base (15) through a hinge seat, the other end is connected with the sliding support assembly (19) through a hinge seat, and the luffing of the whole working device can be realized through the extension and retraction of the luffing oil cylinder (16).

8. The high slope drilling and anchoring integrated multifunctional trolley working device according to claim 4, characterized in that: The anchor rod warehouse (8) is assembled on the axial right parallel side of the advancing beam fixed section (7) through the fixed mounting bracket at the bottom of the support one (81) and the support two (86).

9. The high slope drilling and anchoring integrated multifunctional trolley working device according to claim 4, characterized in that: The anchor rod warehouse rotary motor (82) is fixedly installed on the shaft cylinder on the inner wall of the support one (81).

10. The high slope drilling and anchoring integrated multifunctional trolley working device according to claim 6, characterized in that: The upper end of the sliding support assembly (19) is provided with an extension and retraction groove for installing the compensation oil cylinder (14).

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