Drilling, grouting and anchoring integrated construction equipment and construction method

Abstract

The invention provides drilling, grouting and anchoring integrated construction equipment and a construction method. The construction method comprises the following steps that S1, the equipment is connected with a drilling rod, and a mechanical arm moves the equipment to a drilling position; s2, the drill rod is driven to rotate, meanwhile, the carriage pushes the drill rod, and anchor hole drilling is conducted; s3, anchor hole drilling is completed, the sliding frame is reset, the drill rod is taken down, and equipment is connected with the anchor rod and the slurry inlet pipe; s4, the sliding frame slurry anchor rod is pushed into the anchor hole; s5, slurry is fed through a slurry inlet pipe, grouting is completed, and anchor rod fixing is canceled; s6, grouting is completed, the sliding frame is reset, and the grout inlet pipe is separated; and S7, repeating the steps S1-S6 until all tasks are completed. A single propelling beam structure is adopted, the functions of drilling, grouting and anchor inserting are integrated on the same sliding frame, the overall structure is compact, the weight is low, and the device can be borne through small and medium-sized mechanical arms and is suitable for construction in narrow and small areas such as mines and tunnels; the whole process of drilling, grouting and anchor inserting can be completed through one-time positioning of the mechanical arm, repeated positioning is avoided, the single-hole construction time is short, and the efficiency is higher.

Description

Technical Field

[0001] This invention relates to the field of drilling, grouting and anchoring technology, and specifically to an integrated drilling, grouting and anchoring construction equipment and construction method. Background Technology

[0002] In the support construction process of mines, tunnels and other projects, rock drilling, grouting and anchoring operations are usually required, which is referred to as drilling-anchoring-grouting construction or drilling-anchoring construction, and is widely used.

[0003] Traditional construction methods involve using separate equipment such as rock drills, grouting equipment, and anchor bolting machines. This not only makes equipment transportation and installation time-consuming and labor-intensive, but also requires multiple positioning checks when switching between different operations, which can easily lead to positioning errors and affect construction accuracy and quality.

[0004] With the development of technology, existing technology designs construction equipment that integrates rock drills, grouting equipment, and anchor bolting machines into one unit. The rock drill, grouting equipment, and anchor bolting machine are integrated into the end of the robotic arm, allowing each to perform its corresponding construction task.

[0005] However, when drilling, grouting, and anchoring in confined areas, the inability to access large drive equipment limits the load-bearing capacity of the robotic arm, making it impossible to implement the existing method of directly integrating the rock drill, grouting equipment, and anchoring machine at the end of the robotic arm. Summary of the Invention

[0006] The main objective of this invention is to provide an integrated drilling, grouting, and anchoring construction equipment and method, which solves the problem of excessive weight when combining rock drills, grouting equipment, and anchoring machines at the front end of a robotic arm in existing technologies.

[0007] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: A single-propulsion beam drilling, grouting, and anchoring integrated construction method includes the following steps: S1. Connect the drill rod to the equipment, and the robotic arm will move the equipment to the drilling position; S2. Drive the drill rod to rotate, and at the same time, the slide advances the drill rod to drill the anchor hole; S3. Anchor hole drilling is completed, slide frame is reset, drill rod is removed, and equipment is connected to anchor rod and grout inlet pipe; S4. The slide block grout anchor is pushed into the anchor hole; S5. Grout is introduced through the grout inlet pipe, grouting is completed, and anchor bolt fixing is removed; S6. Grouting is completed, the slide is reset, and the grout inlet pipe is separated. S7. Repeat S1-S6 until all tasks are completed.

[0008] In the preferred embodiment, in S3, the anchor rod is hollow, and the grout inlet pipe is connected to the hollow hole of the anchor rod. After the anchor is inserted, the grout entering through the grout inlet pipe directly enters the interior of the anchor hole through the hollow hole of the anchor rod to complete the grouting. The drill rod and anchor rod are connected to the same carriage.

[0009] A drilling, grouting and anchoring integrated construction equipment includes a robotic arm mounted on a drive vehicle, the drive vehicle being equipped with a hydraulic system, including a support platform mounted on the robotic arm; The top of the pier is equipped with a slide, which includes a slide seat; The top of the slide is equipped with a drive unit, which is used to drive the drill rod to rotate. Both drill rods and anchor rods can be connected to the drive unit.

[0010] In a preferred embodiment, the carriage includes several support blocks fixed to the top of the support platform, the top of the support blocks is provided with a first slide rail, and the slide block is slidably connected to the top of the first slide rail; The top push rod of the support platform has its output end connected to the slide block, which is used to drive the slide block to slide along the first slide rail; The first slide rail is provided with a guide seat at the end away from the drive component. The guide seat is provided with a guide hole, which is used to guide the drill rod, anchor rod or grouting pipe through. The driving component includes a fixed seat located on the top of the slide, and a rotating sleeve rotatably connected to the fixed seat via a first bearing. The rotating sleeve has a first mounting hole. The first mounting hole is used to install drill rods, anchor rods, or grouting pipes; The outer circumference of the rotating sleeve is provided with a worm gear, the top of the slide is provided with a first motor, the output shaft of the first motor is provided with a worm, and the worm meshes with the worm gear.

[0011] In the preferred embodiment, the side of the fixing seat is provided with a grouting component for grouting during the anchor insertion process; The grouting component includes a movable block, and the movable block is equipped with a connecting rod; The top of the fixed base is equipped with a clamping plate, and a drive motor is located on one side of the clamping plate. The motor shaft of the drive motor passes through the clamping plate and is connected to the connecting rod. The movable block is provided with a first hydraulic gripper and a top block on the side away from the connecting rod; The first hydraulic gripper is used to hold the anchor bolt; One side of the top block is equipped with an annular pad that abuts against the anchor rod, while the other side is connected to the grout inlet pipe; The top block has a through hole that connects to the grout inlet pipe, and the anchor rod has a hollow hole. The through hole is aligned with the hollow hole of the anchor rod.

[0012] In a preferred embodiment, a fixing element is provided on one side of the rotating sleeve for fixing the drill rod, anchor rod, or grouting pipe after connection; The fixing component includes a first hydraulic cylinder fixed to the top of the slide block, and the output end of the first hydraulic cylinder is provided with a slider; A movable sleeve is fixed to the top of the slider, and the geometric center of the movable sleeve is located on the axis of the first mounting hole; The movable sleeve is equipped with a rotating ring, and the axis of the rotating ring coincides with the axis of the first mounting hole; Several second bearings are provided between the movable sleeve and the rotating ring; Several clamping blocks are provided on the side of the rotating ring near the rotating sleeve; The rotating sleeve has a guide hole on the side near the clamping block, and the guide hole is a tapered hole; The clamping block is tilted and adapted to the guide hole.

[0013] In a preferred embodiment, the carriage includes several support blocks fixed to the top of the support platform, the top of the support blocks is provided with a first slide rail, and the slide block is slidably connected to the top of the first slide rail; The top push rod of the support platform has its output end connected to the slide block, which is used to drive the slide block to slide along the first slide rail; The first slide rail is provided with a guide seat at the end away from the drive component. The guide seat is provided with a guide hole, which is used to guide the drill rod, anchor rod or grouting pipe through. The top of the first slide rail is provided with a guide block, and the top of the guide block is provided with a guide groove; A pad is provided on the inner side of the guide channel; The side of the foundation closest to the drive vehicle is equipped with a storage rack for storing drill rods, anchor rods, and grouting pipes; The output end of the drive unit is connected to the drill rod, anchor rod, or grouting pipe via a connector; The top of the pier is equipped with a replacement arm, which is used to hold and replace drill rods, anchor rods or grouting pipes.

[0014] In a preferred embodiment, the connecting member includes a bearing housing located on the top of the slide; A connecting shaft is rotatably connected inside the bearing housing, and one end of the connecting shaft is connected to the output end of the drive component. The other end of the connecting shaft is equipped with a universal joint, and the universal joint is equipped with a mounting shaft; A second mounting hole is provided on the side of the mounting shaft away from the universal joint. The second mounting hole is a polygonal hole used to connect drill rods, anchor rods, or grouting pipes. Drill rods, anchor rods, and grouting pipes are all provided with mounting posts that are compatible with the second mounting hole. The outer circumference of the mounting shaft is rotatably connected to a movable ring. Two connecting plates are provided on the side of the movable ring near the universal joint, and the two connecting plates are arranged opposite each other. The top of the slide has two fixing plates, and two connecting plates are respectively attached to the two fixing plates; The connecting plate has a first rotating shaft on the side near the fixed plate, and the first rotating shaft is rotatably connected to the fixed plate; The fixed plate is equipped with a second motor, and the output shaft of the second motor is connected to the first rotating shaft.

[0015] In a preferred embodiment, the replacement arm includes two first support plates disposed on the top of the support platform, with the two support plates located on both sides of the carriage; The top of the two support plates is provided with a support base, and the top of the support base is provided with a second slide rail along the length direction; The sliding end of the second slide rail is equipped with a movable seat; The bottom of the movable seat is equipped with limit buckles on both sides. The limit buckles are L-shaped. The support seat has L-shaped grooves on both sides that are adapted to the limit buckles. The limit buckles slide along the L-shaped grooves. The top of the movable seat is provided with two second support plates, and a rotating seat is rotatably connected between the two second support seats; A second rotating shaft is provided on the side of the rotating seat near the second support plate; the second support plate is equipped with a motor, and the second rotating shaft is connected to the motor output shaft of the second support plate; A third motor is provided on one side of the rotating base, and a first telescopic arm is provided on the side of the rotating base away from the third motor; the output shaft of the third motor is connected to the tail of the first telescopic arm. The output end of the first telescopic arm is provided with a fixed sleeve, and the fixed sleeve is provided with a second telescopic arm; The output end of the second telescopic boom is equipped with a second hydraulic gripper, which is used to hold drill rods, anchor rods or grouting pipes.

[0016] In the preferred embodiment, a limiting plate is provided on the side of the mounting column away from the connector; An anchor bolt or grouting pipe is inserted into the limiting plate, and a sealing gasket is provided at the end of the anchor bolt or grouting pipe; The installation column is equipped with a grout outlet. When the installation column is connected to the anchor rod, the anchor rod has a hollow hole, and the grout outlet is aligned with the hollow hole of the anchor rod. When the installation column is connected to the grouting pipe, the grout outlet is aligned with the pipe hole of the grouting pipe. The top of the mounting column is equipped with a pipe hole, which is connected to the grout outlet hole; The grouting component includes a guide sleeve fixed to the top of the movable ring; A slurry outlet pipe is slidably connected inside the guide sleeve. The bottom end of the slurry outlet pipe extends through the movable ring into the inside of the pipe hole and is adapted to the pipe hole. The top of the slurry outlet pipe is located above the guide sleeve and is equipped with a connecting block; The top of the discharge pipe is equipped with a slurry inlet pipe; A second hydraulic cylinder is provided between the connecting block and the movable ring; The placement frame includes a frame body, the top of which is provided with several placement blocks, and the top of each placement block is provided with a placement groove for placing drill rods, anchor rods or grouting pipes; The top of the frame is equipped with a positioning block, and the positioning block has holes that are compatible with the mounting columns.

[0017] This invention provides an integrated drilling, grouting, and anchoring construction device and method. By adopting the above solution, the following beneficial effects are achieved: Adopting a single-propulsion beam structure, it integrates drilling, grouting, and anchoring functions into the same carriage. The overall structure is compact and lightweight, and can be supported by small and medium-sized robotic arms, making it suitable for construction in confined areas such as mines and tunnels.

[0018] The entire process of drilling, grouting, and anchoring can be completed in one positioning by a robotic arm, avoiding repeated positioning when changing equipment, resulting in shorter construction time and higher efficiency per hole.

[0019] Each process is carried out continuously, with the drill rod and anchor rod sharing the same guide and drive system to ensure the coaxiality of the anchor rod and anchor hole. Grouting is injected directly into the anchor hole through the hollow anchor rod, improving the fullness of grouting and increasing construction efficiency.

[0020] It can be used for both hollow anchor bolt construction and mortar anchor bolt construction to meet different construction needs, thus having better adaptability. Attached Figure Description

[0021] The present invention will be further described below with reference to the accompanying drawings and embodiments: Figure 1 This is a schematic diagram of the structure of the present invention. Figure 1 ; Figure 2 This is a schematic diagram of the structure of the present invention when using a drill pipe. Figure 1 ; Figure 3 This is a structural diagram of the present invention using anchor bolts. Figure 1 ; Figure 4 This is an enlarged structural schematic diagram of the carriage of the present invention; Figure 5 This is an enlarged structural schematic diagram of the drive component after connecting the anchor rod in this invention; Figure 6 This is an enlarged structural schematic diagram of the fastener of the present invention; Figure 7 This is a schematic diagram of the structure of the present invention. Figure 2 ; Figure 8 This is a schematic diagram of the structure of the present invention when using a drill pipe. Figure 2 ; Figure 9 This is a structural diagram of the present invention using anchor bolts. Figure 2 ; Figure 10 yes Figure 9 Schematic diagram of the structure at the end of the middle anchor bolt; Figure 11 This is an enlarged structural schematic diagram of the replacement arm of the present invention; Figure 12 This is an enlarged structural diagram of the connector of the present invention. Figure 1 ; Figure 13This is an enlarged structural diagram of the connector of the present invention. Figure 2 ; Figure 14 yes Figure 9 Schematic diagram of the structure at the tail of the middle anchor bolt; Figure 15 This is an enlarged structural schematic diagram of the placement rack of the present invention.

[0022] In the picture: Robotic arm 1, drive vehicle 101, hydraulic system 102, support platform 2, slide 3, support block 301, first slide rail 302, push rod 303, slide seat 304, guide seat 305, guide block 306, guide groove 307, pad block 308, drive component 4, fixed seat 401, rotating sleeve 402, worm gear 403, first motor 404, worm 405, first bearing 406, first mounting hole 407, drill rod 501, anchor bolt 502, mounting column 521, limit plate 522, sealing gasket 523, grout outlet 524, pipe hole 525, placement frame 503, frame body 531, placement block 532, positioning block 533, grouting component 6, movable block 601, connecting rod 602, clamping plate 603, motor shaft 604, first hydraulic gripper 605, top block 606, grout inlet pipe 607, guide sleeve 61 1. Slurry outlet pipe 612, connecting block 613, second hydraulic cylinder 614, fixing part 7, first hydraulic cylinder 701, slider 702, movable sleeve 703, rotating ring 704, second bearing 705, clamping block 706, guide hole 707, connecting part 8, bearing seat 801, connecting shaft 802, universal joint 803, mounting shaft 804, movable ring 805, second mounting hole 806, fixing plate 807, second motor 808, connecting plate 809, first rotating shaft 810, replacement arm 9, first support plate 901, support seat 902, second slide rail 903, limit buckle 904, movable seat 905, second support plate 906, rotating seat 907, second rotating shaft 908, first telescopic arm 909, third motor 910, fixing sleeve 911, second telescopic arm 912, second hydraulic gripper 913. Detailed Implementation

[0023] Example 1: like Figure 1-6 As shown, an integrated drilling, grouting and anchoring construction device includes a robotic arm 1, which is a commonly used robotic arm in existing drilling machines and is connected and used in an existing manner; the end flange of the robotic arm 1 is fixedly connected to a support 2 by bolts, and the support 2 is preferably welded from Q355 steel plate and is used to install various functional components.

[0024] The top of the support platform 2 is provided with a slide 3, which includes 2-5 support blocks 301 fixed to the top of the support platform 2. The support blocks 301 are preferably made of Q235 steel. The top of the support blocks 301 is fixed with a first slide rail 302 by bolts. The top of the first slide rail 302 is slidably connected with a slide seat 304. The bottom of the slide seat 304 is provided with a slider that is adapted to the first slide rail 302, which is a sliding output end.

[0025] A push rod 303 is bolted to the top of the support 2. The push rod 303 is preferably a hydraulic cylinder of the hydraulic cylinder type. The output end of the push rod 303 is connected to the slide 304 through a pin and is used to drive the slide 304 to slide along the first slide rail 302. A guide seat 305 is provided at the end of the first slide rail 302 away from the driving component 4. The guide seat 305 is preferably Q355 steel and is bolted to the top of the support block 301. A guide hole is provided in the guide seat 305. The guide hole is used to guide the drill rod 501 or the anchor rod 502 to pass through and ensure its linear movement.

[0026] The top of the slide block 304 is provided with a driving component 4. The driving component 4 includes a fixed seat 401 fixed to the top of the slide block 304 by bolts. The fixed seat 401 is preferably made of cast steel. Inside it, a rotating sleeve 402 is rotatably connected by two first bearings 406. The first bearings 406 are preferably NSK6310 deep groove ball bearings, which are used to support the rotating sleeve 402 and reduce its rotational friction. The rotating sleeve 402 is preferably a quenched and tempered 45 steel part, which is provided with a first mounting hole 407. The first mounting hole 407 is a through hole and is adapted to the drill rod 501 and the anchor rod 502 for passing through and installing the drill rod 501, the anchor rod 502 and the grouting pipe.

[0027] A worm gear 403 is fixed to the outer circumference of the rotating sleeve 402 by a flat key; a first motor 404 is fixed to the top of the slide block 304 by bolts. The first motor 404 is preferably a servo motor, preferably Delta ECMA-E21320RS; the output shaft of the first motor 404 is connected to a worm 405 through a coupling. The worm 405 meshes with the worm gear 403 to form a speed reduction transmission mechanism, which can convert the high speed of the first motor 404 into the large torque output of the rotating sleeve 402.

[0028] In one further embodiment, the side of the fixing base 401 is provided with a grouting component 6 for synchronous grouting during anchor insertion; the grouting component 6 includes a movable block 601, which is preferably made of 6061 aluminum alloy, and a connecting rod 602 is welded to one side; the top of the fixing base 401 is fixed with a clamping plate 603 by bolts; a drive motor is fixed to one side of the clamping plate 603 by bolts, which is preferably a stepper motor, model Leisai 57HS22, and the motor shaft 604 of the drive motor passes through the clamping plate 603 and is connected to the connecting rod 602 through a coupling, which can drive the movable block 601 to move back and forth.

[0029] The movable block 601, on the side away from the connecting rod 602, is fixed with a first hydraulic gripper 605 and a top block 606 by bolts. The first hydraulic gripper 605 is preferably a two-finger gripper, preferably model MHZ2-20D, with a rubber anti-slip pad attached to the inside of the gripper to hold the tail of the anchor rod 502 and prevent it from shaking. The top block 606 has a rubber annular pad on one side to hold the tail of the anchor rod 502, and a grout inlet pipe 607 is threaded to the other side. The grout inlet pipe 607 is preferably a DN25 high-pressure hose, which is connected to an existing mortar inlet device. The top block 606 has a through hole communicating with the grout inlet pipe 607, and the anchor rod 502 has a hollow hole. The through hole and the hollow hole of the anchor rod 502 are coaxially aligned to ensure smooth flow of grout.

[0030] In use, after the anchor rod 502 is installed by passing it through the first mounting hole 407, the drive motor drives the motor shaft 604, connecting rod 602, movable block 601, first hydraulic gripper 605 and top block 606 to rotate. The first hydraulic gripper 605 clamps the anchor rod 502, and the top block 606 holds the anchor rod 502, thus completing the connection of the grouting component 6. Conversely, the connection can be canceled. The operation is simple and convenient for grouting and connection.

[0031] In another further embodiment, the anchor 502 is a mortar anchor. The grouting structure uses existing grouting equipment and a grouting pump connected to the grouting pipe. The outer diameter of the grouting pipe is compatible with the drill rod 501. During construction, the drill rod is first passed through the first mounting hole 407 to complete the connection, and then drilling is performed. Then, the drill rod 501 is removed, the grouting pipe is passed through the first mounting hole 407 to complete the connection, and then grouting is performed. Then, the grouting pipe is removed, the anchor 502 is installed, and finally, the anchor is inserted to complete the overall construction process. The operation is simple and suitable for the construction of mortar anchors.

[0032] A fixing member 7 is provided on one side of the rotating sleeve 402 for fixing the drill rod 501, anchor rod 502 or grouting pipe after connection; the fixing member 7 includes a first hydraulic cylinder 701 fixed to the top of the slide block 304 by bolts, the first hydraulic cylinder 701 is preferably a small hydraulic cylinder; the output end of the first hydraulic cylinder 701 is fixed to a slider 702 by bolts; a movable sleeve 703 is welded to the top of the slider 702, the geometric center of the movable sleeve 703 is located on the axis of the first mounting hole 407; a rotating ring 704 is provided inside the movable sleeve 703, the axis of the rotating ring 704 coincides with the axis of the first mounting hole 407; 1-4 second bearings 705 are provided between the movable sleeve 703 and the rotating ring 704, the second bearings 705 are preferably NSK61802 deep groove ball bearings, so that the rotating ring 704 can rotate freely relative to the movable sleeve 703.

[0033] Three to four clamping blocks 706 are evenly distributed on the side of the rotating ring 704 near the rotating sleeve 402. The clamping blocks 706 are made of wear-resistant cast iron and have an arc-shaped groove on the inner side to fit the outer circumference of the drill rod 501 and the anchor rod 502. The rotating sleeve 402 has a guide hole 707 on the side near the clamping blocks 706. The guide hole 707 is a tapered hole with a taper of preferably 10-25°. The clamping blocks 706 are inclined, with the inclination angle consistent with the taper of the guide hole 707 and adapted to the guide hole 707. When the first hydraulic cylinder 701 pushes the slider 702 to move towards the rotating sleeve 402, the clamping blocks 706 slide along the tapered surface of the guide hole 707 and retract towards the center to clamp the drill rod 501, the anchor rod 502, or the grouting pipe. Conversely, when the first hydraulic cylinder 701 retracts, the clamping blocks 706 are released, realizing the loading and unloading of the drill rod 501, the anchor rod 502, or the grouting pipe.

[0034] Example 2: like Figure 7-15 As shown, an integrated drilling, grouting and anchoring construction equipment includes a mechanical arm 1 mounted on a drive vehicle 101. The drive vehicle 101 is a tracked engineering vehicle used in existing construction sites, which is adapted to complex road surfaces such as mines and tunnels. The drive vehicle 101 is equipped with a hydraulic system 102, which is a commonly used device in existing construction sites, providing power to the various hydraulic components of the equipment.

[0035] The robotic arm 1 is an existing robotic arm adapted to tracked engineering vehicles, and the end flange is fixedly connected to the support platform 2 by bolts; the support platform 2 is preferably welded from Q355 steel plate, and the surface is sandblasted and rust-removed, and is used to install various functional components.

[0036] The top of the support platform 2 is provided with a slide 3, which includes 2-5 support blocks 301 fixed to the top of the support platform 2. The support blocks 301 are preferably made of Q235 steel. The top of the support blocks 301 is fixed with a first slide rail 302 by bolts. The first slide rail 302 is preferably a THKSSR25 linear slide rail. The top of the first slide rail 302 is slidably connected with a slide seat 304. The slide seat 304 is preferably made of 6061 aluminum alloy. The bottom is provided with a slider that is compatible with the first slide rail 302, which is a sliding output end.

[0037] A push rod 303 is bolted to the top of the support 2. The push rod 303 is preferably a hydraulic cylinder of the hydraulic cylinder type. The output end of the push rod 303 is connected to the slide 304 through a pin and is used to drive the slide 304 to slide along the first slide rail 302. A guide seat 305 is provided at the end of the first slide rail 302 away from the driving component 4. The guide seat 305 is bolted to the top of the support block 301. The guide seat 305 is provided with a guide hole to guide the drill rod 501, anchor rod 502 or grouting pipe through and ensure its linear movement.

[0038] The top of the first slide rail 302 is provided with a guide block 306, which is fixed to the top of the first slide rail 302 by bolts. The top of the guide block 306 is provided with a guide groove 307, which is a U-shaped groove with a width that matches the outer diameter of the drill rod 501 and the anchor rod 502. A polyurethane pad 308 is attached to the inner side of the guide groove 307. The pad 308 is used to buffer the collision between the drill rod 501, the anchor rod 502 or the grouting pipe and the guide groove 307, to avoid surface wear, and is used for positioning during placement.

[0039] A placement frame 503 is provided on the side of the pier 2 near the drive vehicle 101. The placement frame 503 includes a frame body 531. Multiple rows of placement blocks 532 are welded to the top of the frame body 531. The top of each placement block 532 has a semi-circular placement groove, the diameter of which is adapted to the outer diameter of the drill rod 501 and the anchor rod 502, for placing the drill rod 501, the anchor rod 502 and the grouting pipe. Each row of placement blocks 532 holds one drill rod 501, one anchor rod 502 or one grouting pipe, preferably one grouting pipe. A positioning block 533 is welded to the top of the frame body 531. The positioning block 533 has a polygonal hole adapted to the mounting column 521 for inserting the mounting column 521, assisting in the placement of the drill rod 501, the anchor rod 502 and the grouting pipe.

[0040] The top of the slide block 304 is equipped with a drive component 4, which is preferably a drive device used in existing drilling equipment, and therefore will not be described in detail. The drill rod 501, anchor rod 502, and grouting pipe are all equipped with mounting posts 521. The mounting posts 521 are preferably hexagonal prisms, which are clearance-fitted with the second mounting hole 806 to ensure stable torque transmission. The grouting pipe adopts an existing metal grouting pipe, whose outer diameter is larger than the diameter of the anchor rod 502 but smaller than the diameter of the drill rod 501. One end of the grouting pipe is connected to the mounting post 521.

[0041] The output end of the drive unit 4 is connected to the drill rod 501, the anchor rod 502 and the grouting pipe through the connector 8. The connector 8 includes a bearing seat 801 located on the top of the slide 304. The bearing seat 801 is made of cast steel and is fixed to the slide 304 by bolts. It has two deep groove ball bearings inside. A connecting shaft 802 is rotatably connected inside the bearing seat 801. The connecting shaft 802 is preferably a quenched and tempered 45 steel part. One end is connected to the output end of the drive unit 4 through a coupling to transmit torque.

[0042] The other end of the connecting shaft 802 is fixed with a universal joint 803 by bolts. The universal joint 803 is preferably a cross-type universal joint, and the preferred model is SWC100. The universal joint 803 is connected to a mounting shaft 804 by bolts. The mounting shaft 804 can rotate 90° with the connecting shaft 802 through the universal joint 803.

[0043] The mounting shaft 804 is provided with a second mounting hole 806 on the side away from the universal joint 803. The second mounting hole 806 is preferably a hexagonal hole, which is adapted to the mounting post 521 to ensure that there is no radial wobble after the mounting post 521 is inserted. The outer circumference of the mounting shaft 804 is rotatably connected to a movable ring 805 through a bearing. The movable ring 805 is preferably made of 6061 aluminum alloy.

[0044] Two connecting plates 809 are welded to the side of the movable ring 805 near the universal joint 803. The two connecting plates 809 are arranged opposite each other. The connecting plates 809 are preferably made of Q235 steel. Two fixing plates 807 are welded to the top of the slide block 304. The two connecting plates 809 are respectively close to the two fixing plates 807 with a gap of less than 1mm.

[0045] A first rotating shaft 810 is welded to the side of the connecting plate 809 near the fixing plate 807. The first rotating shaft 810 is rotatably connected to the fixing plate 807 via bearings. A second motor 808 is fixed to the fixing plate 807 by bolts. The second motor 808 is preferably a stepper motor, preferably a Leadsai 57HS22. The output shaft of the second motor 808 is connected to the first rotating shaft 810 via a coupling, which can drive the movable ring 805 to rotate around the first rotating shaft 810, adjust the angle of the mounting shaft 804, and realize the pitch adjustment of the drill rod 501 and the anchor rod 502 to adapt to different usage requirements.

[0046] During operation, the drill rod 501, anchor rod 502, or grouting pipe should be kept horizontal. When replacement is required, the second motor 808 is started to drive the first rotating shaft 810 to rotate, thereby sequentially driving the connecting plate 809, the movable ring 805, and the mounting shaft 804 to rotate, so that the drill rod 501, anchor rod 502, or grouting pipe is in a vertical position or at another suitable angle for replacement, so as to facilitate replacement and adjustment.

[0047] A limiting plate 522 is welded to the side of the mounting column 521 away from the connector 8. The limiting plate 522 is used to limit the axial displacement of the drill rod 501 and the anchor rod 502 in the second mounting hole 806. The anchor rod 502 and the grouting pipe are inserted into the limiting plate 522. The ends of the anchor rod 502 and the grouting pipe are attached with nitrile rubber sealing gaskets 523. The sealing gaskets 523 are used to prevent grout from leaking from the gap between the mounting column 521 and the anchor rod 502 or the grouting pipe during grouting.

[0048] The mounting column 521 is provided with a grout outlet 524. When the anchor rod 502 connected to the mounting column 521 is a hollow anchor rod, the grout outlet 524 is coaxially aligned with the hollow hole of the anchor rod 502. When the mounting column 521 is connected to the grouting pipe, the grout outlet 524 is coaxially aligned with the grouting pipe. The top of the mounting column 521 is provided with a pipe hole 525, which is connected to the slurry outlet hole 524 and is used to connect the slurry outlet pipe 612.

[0049] The side of the fixed base 401 is provided with a grouting component 6. The grouting component 6 includes a guide sleeve 611 fixed to the top of the movable ring 805. The guide sleeve 611 is fixed to the movable ring 805 by bolts. A grout outlet pipe 612 is slidably connected inside the guide sleeve 611. The grout outlet pipe 612 is preferably a stainless steel pipe. The bottom end of the grout outlet pipe 612 passes through the movable ring 805 and extends into the inside of the pipe hole 525, and is clearance-fitted with the pipe hole 525 to ensure that there is no leakage of grout.

[0050] The top end of the discharge pipe 612 is located above the guide sleeve 611 and is welded with a connecting block 613; the top of the discharge pipe 612 is connected to the inlet pipe 607 via a quick connector. The inlet pipe 607 is an existing inlet pipe that connects to the existing slurry delivery equipment; a second hydraulic cylinder 614 is provided between the connecting block 613 and the movable ring 805. The second hydraulic cylinder 614 is preferably a miniature hydraulic cylinder, preferably an HOB hydraulic cylinder, used to drive the discharge pipe 612 to slide along the guide sleeve 611, thereby realizing the docking and separation of the discharge pipe 612 and the pipe hole 525.

[0051] The top of the foundation 2 is provided with a replacement arm 9, which is used to clamp and replace the drill rod 501, anchor rod 502 and grouting pipe. The replacement arm 9 includes two first support plates 901 set on the top of the foundation 2. The first support plates 901 are fixed to both sides of the foundation 2 by bolts. The top of the two first support plates 901 is fixed with a support seat 902 by bolts. The surface of the support seat 902 is anodized to improve wear resistance.

[0052] The top of the support base 902 is bolted with a second slide rail 903, preferably a THKSSR15 linear slide rail; the sliding end of the second slide rail 903 is bolted with a movable seat 905; the bottom sides of the movable seat 905 are bolted with limit buckles 904, preferably L-shaped structures formed by bending Q235 steel; the support base 902 has L-shaped grooves on both sides that are adapted to the limit buckles 904, and the limit buckles 904 slide along the L-shaped grooves to prevent the movable seat 905 from falling off the second slide rail 903 and to limit the rotation of the movable seat 905.

[0053] The top of the movable seat 905 is fixed with two second support plates 906 by bolts. The second support plates 906 are symmetrically distributed on both sides of the movable seat 905. A rotating seat 907 is rotatably connected between the two second support plates 906. The rotating seat 907 can rotate 360° to realize flexible adjustment of the gripper direction.

[0054] A second rotating shaft 908 is welded to the side of the rotating base 907 near the second support plate 906. The second rotating shaft 908 is connected to the output shaft of a servo motor fixed on the outside of the second support plate 906 via a coupling. The preferred model of the servo motor is the Panasonic A6 series. The servo motor can drive the rotating base 907 to rotate precisely. A third motor 910 is fixed to one side of the rotating base 907 by bolts. The third motor 910 is preferably a stepper motor, preferably a Leadsai 57HS13. A first telescopic arm 909 is provided on the side of the rotating base 907 away from the third motor 910. The first telescopic arm 909 is preferably an electric push rod, preferably a DTZ100. The output shaft of the third motor 910 is connected to the tail of the first telescopic arm 909 through a gear transmission mechanism, which can drive the first telescopic arm 909 to rotate along the central axis of the first telescopic arm 909.

[0055] The output end of the first telescopic arm 909 is fixed with a fixed sleeve 911 by bolts. The inner diameter of the fixed sleeve 911 is adapted to the outer diameter of the second telescopic arm 912. The second telescopic arm 912 is provided inside the fixed sleeve 911. The second telescopic arm 912 is preferably a miniature electric push rod, preferably model ANT-26, which can achieve precise telescopic extension and retraction over short distances. The output end of the second telescopic arm 912 is fixed with a second hydraulic gripper 913 by bolts. The second hydraulic gripper 913 is preferably a two-finger gripper, preferably model MHZ2-20D. Rubber anti-slip pads are attached to the inner side of the gripper to stably clamp the drill rod 501, anchor rod 502 and grouting pipe, and to prevent slippage or damage to the surface of the components during clamping. In use, starting the third motor 910 drives the first telescopic arm 909 to rotate, which in turn drives the second hydraulic gripper 913 and the drill rod 501, anchor rod 502, and grouting pipe it holds to rotate around the central axis of the first telescopic arm 909. Starting the servo motor fixed on the outside of the second support plate 906 drives the second rotating shaft 908 and the rotating seat 907 to rotate, which in turn drives the drill rod 501, anchor rod 502, and grouting pipe held by the first telescopic arm 909 and the second hydraulic gripper 913 to rotate around the second rotating shaft 908. By starting the second slide rail 903, the whole unit can be moved back and forth, thereby adjusting the position of the second hydraulic gripper 913 to adapt to different gripping positions.

[0056] After the placement frame 503 clamps the drill rod 501, anchor rod 502, and grouting pipe via the second hydraulic gripper 913, the second telescopic arm 912 retracts. Then, the third motor 910 is activated to drive the first telescopic arm 909 to rotate 180 degrees. Next, the servo motor fixed to the outside of the second support plate 906 is activated to drive the first telescopic arm 909 to rotate 180 degrees around the second rotating shaft 908. Then, the second slide rail 903 is activated to drive the movable seat 905 to slide and the second telescopic arm 912 to extend until the mounting post 521 is aligned with the second mounting hole 806. Then, the first telescopic arm 909 is retracted to drive the mounting post 521 to insert into the second mounting hole 806. The second hydraulic gripper 913 is released, and the second telescopic arm 912 retracts and resets, thus completing the connection. Conversely, disassembly can be performed by retracting the second hydraulic gripper 913. The operation is simple and easy to replace.

[0057] The second hydraulic cylinder 614 of the grouting component 6 is activated, pushing the grout outlet pipe 612 to slide downward along the guide sleeve 611 until the bottom end of the grout outlet pipe 612 is inserted into the pipe hole 525 of the mounting column 521. When connecting the drill rod 501 or the mortar anchor rod, the mounting column 521 of the drill rod 501 can be fixed through the grout outlet pipe 612. When connecting the anchor rod 502 with a hollow hole or the grouting pipe, the grout outlet pipe 612 can be used to fix the grouting pipe while also connecting the grouting pipe. Conversely, it can be disassembled.

[0058] Example 3: A single-propulsion beam drilling, grouting, and anchoring integrated construction method, adopting the scheme of Example 1, includes the following steps: S1. Connect the drill rod 501 to the equipment. Specifically, insert the drill rod 501 into the first mounting hole 407 of the rotating sleeve 402 and clamp the drill rod 501 with the fixing piece 7. Operate the robotic arm 1 to move the entire equipment to the preset drilling position. Through the multi-degree-of-freedom adjustment of the robotic arm 1, make the axis of the drill rod 501 coincide with the design axis of the anchor hole, and control the positioning accuracy within ±2mm.

[0059] S2. Drive the drill rod 501 to rotate, and simultaneously advance the drill rod 501 to drill the anchor hole; start the first motor 404 of the drive component 4, the first motor 404 drives the worm gear 405 to rotate, the worm gear 405 drives the worm wheel 403 and the rotating sleeve 402 to rotate, thereby driving the drill rod 501 to rotate; simultaneously start the push rod 303, the push rod 303 pushes the slide 304 to move along the first slide rail 302 in the drilling direction, and applies a thrust to the drill rod 501; during the drilling process, the guide hole of the guide seat 305 guides the drill rod 501 to prevent the drill rod 501 from bending and deforming; according to the hardness of the rock strata, the drilling speed is controlled at 0.5-1m / min by adjusting the power of the first motor 404 and the pressure of the push rod 303.

[0060] S3. After the anchor hole drilling is completed, the push rod 303 retracts, causing the slide block 304 to reset, the first motor 404 stops working, and the drill rod 501 stops rotating; the fixing piece 7 loosens the drill rod 501, and the drill rod 501 is removed manually or mechanically; the anchor rod 502 is inserted into the first mounting hole 407 of the rotating sleeve 402. The anchor rod 502 has a hollow structure, and its outer diameter is adapted to the diameter of the anchor hole. The anchor rod 502 is clamped by the fixing piece 7; at the same time, the first hydraulic claw 605 of the grouting piece 6 clamps the tail of the anchor rod 502, the annular pad of the top block 606 abuts against the tail of the anchor rod 502, and the grout inlet pipe 607 is connected to the through hole of the top block 606 to ensure that the grout inlet pipe 607 is connected to the hollow hole of the anchor rod 502.

[0061] If a mortar anchor is used for anchor rod 502, after the anchor hole is drilled, the push rod 303 retracts, causing the slide 304 to reset, the first motor 404 stops working, and the drill rod 501 stops rotating; the fixing piece 7 loosens the drill rod 501, and the drill rod 501 is removed manually or mechanically; then the grouting pipe is inserted into the first mounting hole 407 and fixed by the fixing piece 7, then the push rod 303 extends, causing the slide 304 and the grouting pipe to extend into the hole, and then grout is injected into the hole through the grouting pipe in the existing manner. After the grouting standard is reached, the grouting is stopped, the push rod 303 retracts, causing the slide 304 to reset, the fixing piece 7 loosens the grouting pipe, and the grouting pipe is removed manually or mechanically, and then the anchor rod 502 is inserted into the first mounting hole 407 of the rotating sleeve 402 and clamped by the fixing piece 7.

[0062] S4. Anchor rod 502 is pushed into the anchor hole; the push rod 303 is activated to push the slide block 304 to move, and the anchor rod 502 is screwed into the anchor hole; when the exposed length of the anchor rod 502 reaches the design requirements, preferably 100-150mm, the push rod 303 stops working.

[0063] S5. When using hollow anchor rods, grouting is completed by introducing grout through the grout inlet pipe 607, and the anchor rod 502 is removed from the fixing position. The grouting pump is started, and the grout enters the hollow hole of the anchor rod 502 through the through holes of the grout inlet pipe 607 and the top block 606, and then is injected into the gap between the anchor hole and the anchor rod 502 through the grouting holes preset on the side wall of the anchor rod 502. The grouting pressure is controlled at 1.5-3MPa, and the grouting volume is determined according to the volume of the anchor hole. When grout returns to the anchor hole, grouting is continued for 10-30 seconds and then stopped. After grouting is completed, the fixing part 7 and the first hydraulic clamp 605 release the anchor rod 502.

[0064] When using mortar anchor bolts, the fixing component 7 can be directly loosened from the anchor bolt 502.

[0065] S6. The retraction of push rod 303 causes slide block 304 to reset, the drive motor of grouting component 6 reverses, causing movable block 601 to move away from anchor rod 502, and grout inlet pipe 607 to separate from top block 606, completing one drilling, grouting and anchoring operation cycle.

[0066] S7. Repeat S1-S6. The robotic arm 1 moves to the next drilling position and performs the same operation until all anchor holes are drilled and anchored.

[0067] Example 4: A single-propulsion beam drilling, grouting, and anchoring integrated construction method, adopting the scheme of Example 2, includes the following steps: S1: Equipment Preparation and Positioning Drive the drive vehicle 101 to the construction area and ensure that the drive vehicle 101 is parked stably and the tracks are in close contact with the ground; start the existing hydraulic system 102 and electrical control system, and check the operating status of each component, such as the robotic arm 1, the slide 3, the drive component 4, and the replacement arm 9, to ensure that there is no jamming or abnormal noise.

[0068] Based on the designed anchor hole position, the support platform 2 is moved to the drilling position by the adjustment function of the robotic arm 1.

[0069] The replacement arm 9 is started, and the drill pipe 501 is installed using the scheme in Example 2, and the replacement arm 9 is reset to the initial position.

[0070] S2: Anchor hole drilling operation: The drive unit 4 is started using the existing method, thereby driving the drill rod 501 to rotate; The push rod 303 of the slide 3 is started synchronously, and the push rod 303 pushes the slide 304 to move along the first slide rail 302 towards the drilling direction; the drill rod 501, guided by the guide seat 305, gradually drills into the rock mass to carry out drilling.

[0071] When the drilling depth reaches the design value, the drive unit 4 controls the drill rod 501 to stop rotating or rotate at a low speed; the push rod 303 retracts in the opposite direction, driving the slide 304 and the drill rod 501 to exit the anchor hole, thus completing the anchor hole drilling.

[0072] S3: Replace the drill rod with an anchor rod or grouting pipe: Push rod 303 returns to its initial position.

[0073] When the anchor rod 502 is a hollow anchor rod, the replacement arm 9 is restarted, and the drill rod 501 is disassembled using the scheme in Example 2. Then, the anchor rod 502 is installed, completing the replacement of the drill rod 501 and the anchor rod 502. The second hydraulic cylinder 614 of the grouting component 6 is started, pushing the grout outlet pipe 612 to slide downward along the guide sleeve 611 until the bottom end of the grout outlet pipe 612 is inserted into the pipe hole 525 of the mounting column 521, realizing the connection between the grout outlet pipe 612 and the hollow hole of the anchor rod 502; the other end of the grout inlet pipe 607 is connected to the existing grouting pump, and the sealing of the grouting pipeline is checked to ensure that there is no leakage.

[0074] When anchor rod 502 is a mortar anchor rod, replacement arm 9 is restarted. Drill rod 501 is disassembled using the method in Example 2, and then the grouting pipe is installed. The second hydraulic cylinder 614 of grouting component 6 is activated, pushing grout outlet pipe 612 to slide downward along guide sleeve 611 until the bottom end of grout outlet pipe 612 is inserted into pipe hole 525 of mounting column 521, realizing the connection between grout outlet pipe 612 and grouting pipe. Then, push rod 303 of slide frame 3 is activated to send grouting pipe into hole, and then grouting is performed in the existing manner. Grout enters grouting pipe through grouting equipment and finally enters hole until grouting is completed and grouting is stopped. Then, push rod 303 and second hydraulic cylinder 614 are reset to initial position in sequence. Grouting pipe is removed by replacement arm 9, and then anchor rod 502 is installed. The second hydraulic cylinder 614 is activated to fix anchor rod 502, completing the replacement of drill rod 501 and anchor rod 502.

[0075] S4: Anchor bolt installation: The push rod 303 of the slide 3 is activated, and the push rod 303 pushes the slide block 304 to move along the first slide rail 302 toward the anchor hole, thereby driving the anchor rod 502 into the anchor hole; during the advancement process, the guide seat 305 guides the anchor rod 502.

[0076] When the insertion depth of anchor bolt 502 reaches the design value, push rod 303 stops advancing, keeping anchor bolt 502 in a stable position, ready for grouting.

[0077] S5: Anchor hole grouting operation: When the anchor bolt 502 is a hollow anchor bolt, the grouting pump is started, and the required grout is injected into the hollow hole of the anchor bolt 502 through the grout inlet pipe 607, the grout outlet pipe 612, and the grout outlet hole 524 of the mounting column 521. Finally, the grout flows out from the reserved opening at the end of the anchor bolt 502, filling the gap between the anchor hole and the anchor bolt 502. The grouting pressure is controlled at 2-5MPa, and the grouting volume is monitored in real time by a flow meter to ensure that the grout fills the anchor hole without voids.

[0078] When the grouting volume reaches the design value and grout returns to the anchor hole, shut down the grouting pump and stop grouting; keep the grout outlet pipe 612 connected to the pipe hole 525 and wait for the grout to initially set. The initial setting time is determined according to the type of grout, preferably 10-30 minutes, to prevent grout backflow; after the initial setting is completed, start the second hydraulic cylinder 614 to reset and cancel the anchor rod 502.

[0079] When anchor bolt 502 is a mortar anchor bolt, the second hydraulic cylinder 614 is activated to reset and cancel the fixing of anchor bolt 502.

[0080] S6: Equipment reset and pipeline disconnection: The push rod 303 of the slide 3 is activated. The push rod 303 retracts in the opposite direction, driving the slide 304 to return to its initial position, ready for the next operation.

[0081] S7: Cyclic Operations Repeat steps S1-S6 to complete the drilling, anchoring, and grouting operations for all anchor holes in the construction area in sequence; after all tasks are completed, drive vehicle 101 away from the construction area for equipment maintenance.

[0082] During construction, anchor bolts 502 are manually added to the placement frame 503 as needed.

[0083] The motor, hydraulic actuator, and electric actuator in this application are all commonly used existing equipment, connected and controlled in a conventional manner, and the hydraulic actuator and electric actuator can be replaced according to needs and actual usage.

[0084] The embodiments described in this application are not the only implementation methods of this application. The opening and closing of the hydraulic cylinder and other structures and their stroke can be modified and adjusted according to actual use to adapt to actual working conditions, and will not be described in detail here.

[0085] The above embodiments are merely preferred technical solutions of the present invention and should not be considered as limitations on the present invention. The scope of protection of the present invention should be limited to the technical solutions described in the claims, including equivalent substitutions of the technical features described in the claims. That is, equivalent substitutions and improvements within this scope are also within the scope of protection of the present invention.

Claims

1. A single-propulsion beam drilling, grouting, and anchoring integrated construction method, characterized by: It comprises the following steps: S1, the device is connected to the drill rod, and the mechanical arm moves the device to the drilling position; S2, drive the drill rod to rotate, while the carriage advances the drill rod, and anchor hole drilling is performed; S3, after the anchor hole drilling is completed, the carriage is reset, the drill rod is removed, the device is connected to the anchor rod and the grout feeding pipe; S4, the anchor rod is pushed into the anchor hole by the carriage; S5, the grout feeding pipe feeds grout, grouting is completed, and the anchor rod is fixed; S6, after grouting is completed, the carriage is reset, and the grout feeding pipe is separated; S7, repeat S1-S6 until all tasks are completed.

2. The method according to claim 1, characterized in that: In S3, the anchor rod is hollow, the grout feeding pipe is connected to the hollow hole of the anchor rod, and after the anchor is inserted, the grout entering the grout feeding pipe directly enters the inside of the anchor hole through the hollow hole of the anchor rod to complete grouting; The drill rod and the anchor rod are connected to the same carriage.

3. A drilling and grouting anchor integrated construction device, comprising a mechanical arm (1) arranged on a driving vehicle (101), wherein the driving vehicle (101) is provided with a hydraulic system (102), characterized in that: The mechanical arm (1) is provided with a bearing platform (2); The bearing platform (2) is provided with a carriage (3) on the top, and the carriage (3) comprises a sliding seat (304); The top of the sliding seat (304) is provided with a driving member (4), and the driving member (4) is used for driving the drill rod (501) to rotate; The drill rod (501) and the anchor rod (502) can be connected with the driving member (4).

4. The drilling and anchoring integrated construction apparatus according to claim 3, characterized in that: The carriage (3) comprises a plurality of support blocks (301) fixed on the top of the bearing platform (2), and the top of the support block (301) is provided with a first sliding rail (302), and the sliding seat (304) is slidably connected to the top of the first sliding rail (302); The top of the bearing platform (2) is provided with a push rod (303), and the output end of the push rod (303) is connected with the sliding seat (304), and the push rod (303) is used for driving the sliding seat (304) to slide along the first sliding rail (302); One end of the first sliding rail (302) away from the driving member (4) is provided with a guide seat (305), and the guide seat (305) is provided with a guide hole, and the guide hole is used for guiding the drill rod (501), the anchor rod (502) or the grouting pipe to pass through; The driving member (4) comprises a fixed seat (401) provided on the top of the sliding seat (304), the fixed seat (401) is rotatably connected with a rotating sleeve (402) through a first bearing (406), and the rotating sleeve (402) is provided with a first mounting hole (407); The first mounting hole (407) is used for mounting the drill rod (501), the anchor rod (502) or the grouting pipe; The outer periphery of the rotating sleeve (402) is provided with a worm gear (403), the top of the sliding seat (304) is provided with a first motor (404), the output shaft of the first motor (404) is provided with a worm (405), and the worm (405) is engaged with the worm gear (403).

5. The drilling and anchoring integrated construction apparatus according to claim 4, characterized in that: The side surface of the fixed seat (401) is provided with a grouting member (6) for grouting during anchor insertion; The grouting member (6) comprises a movable block (601), and the movable block (601) is provided with a connecting rod (602); The top of the fixed seat (401) is provided with a clamping plate (603), one side of the clamping plate (603) is provided with a driving motor, the motor shaft (604) of the driving motor penetrates through the clamping plate (603) and is connected with the connecting rod (602); The side of the movable block (601) away from the connecting rod (602) is provided with a first hydraulic clamping jaw (605) and a top block (606); The first hydraulic clamping jaw (605) is used for clamping the anchor rod (502); One side of the top block (606) is provided with an annular backing plate and abuts against the anchor rod (502), and the other side is connected with the grout feeding pipe (607); The top block (606) is internally provided with a through hole communicated with the grout feeding pipe (607), and the anchor rod (502) is internally provided with a hollow hole, and the through hole is aligned with the hollow hole of the anchor rod (502).

6. The drilling and anchoring integrated construction apparatus according to claim 4, characterized in that: One side of the rotating sleeve (402) is provided with a fixing member (7) for fixing the connected drill rod (501), anchor rod (502) or grouting pipe; The fixing member (7) comprises a first hydraulic cylinder (701) fixed to the top of the sliding seat (304), and the output end of the first hydraulic cylinder (701) is provided with a sliding block (702); The top of the sliding block (702) is fixed with a movable sleeve (703), and the geometric center of the movable sleeve (703) is located on the axis of the first mounting hole (407); The movable sleeve (703) is internally provided with a rotating ring (704), and the axis of the rotating ring (704) coincides with the axis of the first mounting hole (407); A plurality of second bearings (705) are arranged between the movable sleeve (703) and the rotating ring (704); One side of the rotating ring (704) close to the rotating sleeve (402) is provided with a plurality of clamping blocks (706); One side of the rotating sleeve (402) close to the clamping block (706) is provided with a guide hole (707), and the guide hole (707) is a tapered hole; The clamping block (706) is inclinedly arranged and matched with the guide hole (707).

7. The drilling and anchoring integrated construction apparatus according to claim 3, characterized in that: The sliding carriage (3) comprises a plurality of support blocks (301) fixed to the top of the bearing platform (2), and the top of the support block (301) is provided with a first sliding rail (302), and the sliding seat (304) is slidingly connected to the top of the first sliding rail (302); The top of the bearing platform (2) is provided with a push rod (303), and the output end of the push rod (303) is connected with the sliding seat (304) for driving the sliding seat (304) to slide along the first sliding rail (302); One end of the first sliding rail (302) away from the driving member (4) is provided with a guide seat (305), and the guide seat (305) is internally provided with a guide hole for guiding the drill rod (501), anchor rod (502) or grouting pipe to pass through; The top of the first sliding rail (302) is provided with a guide block (306), and the top of the guide block (306) is provided with a guide groove (307); The inner side of the guide groove (307) is provided with a backing block (308); One side of the bearing platform (2) close to the driving vehicle (101) is provided with a placing rack (503) for placing the drill rod (501), anchor rod (502) and grouting pipe; The output end of the driving member (4) is connected with the drill rod (501), anchor rod (502) or grouting pipe through a connecting member (8); The top of the bearing platform (2) is provided with a replacement arm (9) for clamping and replacing the drill rod (501), anchor rod (502) or grouting pipe.

8. The drilling and injection anchor integrated construction apparatus according to claim 7, characterized in that: The connecting member (8) comprises a bearing seat (801) arranged on the top of the sliding seat (304); The bearing seat (801) is internally rotatably connected with a connecting shaft (802), one end of the connecting shaft (802) is connected with the output end of the driving member (4); The other end of the connecting shaft (802) is provided with a universal joint (803), and the universal joint (803) is provided with a mounting shaft (804); The mounting shaft (804) is provided with a second mounting hole (806) on the side away from the universal joint (803), the second mounting hole (806) is a polygonal hole, and is used for connecting the drill rod (501), the anchor rod (502) or the grouting pipe; the drill rod (501), the anchor rod (502) and the grouting pipe are all provided with a mounting column (521) matched with the second mounting hole (806); The mounting shaft (804) is rotatably connected with a movable ring (805) on the outer periphery, and the movable ring (805) is provided with two connecting plates (809) on the side close to the universal joint (803); The top of the sliding seat (304) is provided with two fixed plates (807), and the two connecting plates (809) are close to the two fixed plates (807) respectively; The side of the connecting plate (809) close to the fixed plate (807) is provided with a first rotating shaft (810), and the first rotating shaft (810) is rotatably connected with the fixed plate (807); The fixed plate (807) is provided with a second motor (808), and the output shaft of the second motor (808) is connected with the first rotating shaft (810).

9. The drilling and anchoring integrated construction apparatus according to claim 8, characterized in that: The replacement arm (9) comprises two first support plates (901) arranged on the top of the bearing platform (2), and the two support plates (901) are located on the two sides of the sliding frame (3); The top of each of the two support plates (901) is provided with a support seat (902), and the top of the support seat (902) is provided with a second sliding rail (903) in the length direction; The sliding end of the second sliding rail (903) is provided with a movable seat (905); The bottom of the movable seat (905) is provided with a limiting buckle (904) on each side, the limiting buckle (904) is L-shaped, the two sides of the support seat (902) are provided with L-shaped grooves matched with the limiting buckles (904), and the limiting buckles (904) slide along the L-shaped grooves; The top of the movable seat (905) is provided with two second support plates (906), and the two second support plates (906) are rotatably connected with a rotating seat (907); The side of the rotating seat (907) close to the second support plate (906) is provided with a second rotating shaft (908); the second support plate (906) is provided with a motor, and the second rotating shaft (908) is connected with the output shaft of the motor of the second support plate (906); One side of the rotating seat (907) is provided with a third motor (910), the side of the rotating seat (907) away from the third motor (910) is provided with a first telescopic arm (909); the output shaft of the third motor (910) is connected with the tail of the first telescopic arm (909); The output end of the first telescopic arm (909) is provided with a fixing sleeve (911), and the fixing sleeve (911) is provided with a second telescopic arm (912); The output end of the second telescopic arm (912) is provided with a second hydraulic clamp jaw (913), and the second hydraulic clamp jaw (913) is used for clamping the drill rod (501), the anchor rod (502) or the grouting pipe.

10. The drilling and injection anchor integrated construction apparatus according to claim 8, characterized in that: The mounting column (521) is provided with a limiting plate (522) on the side away from the connecting piece (8); The anchor rod (502) or the grouting pipe is inserted into the limiting plate (522), and the end of the anchor rod (502) or the grouting pipe is provided with a sealing gasket (523). The installation column (521) is provided with a slurry outlet hole (524). When the installation column (521) is connected with the anchor rod (502), the anchor rod (502) is provided with a hollow hole, and the slurry outlet hole (524) is aligned with the hollow hole of the anchor rod (502). When the installation column (521) is connected with the grouting pipe, the slurry outlet hole (524) is aligned with the pipe hole of the grouting pipe. The top of the installation column (521) is provided with a pipe hole (525), and the pipe hole (525) is in communication with the slurry outlet hole (524). The grouting member (6) comprises a guide sleeve (611) fixed to the top of the movable ring (805). The guide sleeve (611) is slidably connected with a slurry outlet pipe (612), the bottom end of the slurry outlet pipe (612) extends to the inside of the pipe hole (525) through the movable ring (805) and is matched with the pipe hole (505). The top end of the slurry outlet pipe (612) is located above the guide sleeve (611) and is provided with a connecting block (613). The top of the slurry outlet pipe (612) is provided with a slurry inlet pipe (607). The second hydraulic cylinder (614) is arranged between the connecting block (613) and the movable ring (805). The rack (503) comprises a rack body (531), the top of the rack body (531) is provided with a plurality of placing blocks (532), the top of the placing block (532) is provided with a placing groove for placing the drill rod (501), the anchor rod (502) or the grouting pipe. The top of the rack body (531) is provided with a positioning block (533), and the positioning block (533) is provided with a hole matched with the installation column (521).

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