Tunnel construction drilling and anchoring device and construction method

Abstract

The invention discloses a tunnel construction drilling and anchoring device and a construction method, and belongs to the technical field of tunnel drilling and anchoring, the device comprises an arm frame system, a propelling system and a special drilling rod system, the propelling system is used for providing drilling power, the arm frame system is used for controlling the propelling system to position space, and the special drilling rod system is driven by the propelling system to complete drilling; the method comprises the steps of working condition sensing and pre-judging, hole searching, drilling and monitoring, automatic extension and self-adaptive continuous drilling, tunneling drilling operation can be achieved, anchor rod hole operation can also be achieved, especially long anchor rod hole drilling operation of a small-section tunnel is achieved, and compared with an automatic extension rod rock drilling working device with a rod library, the structure is quite simple and compact, and the working efficiency is high. The cantilever crane system is simple in structure, low in failure rate and small in size, so that the whole cantilever crane system is high in flexibility in a small-section tunnel, particularly does not affect drilling of peripheral holes during tunneling and drilling work, and can be used for small-section tunneling work and anchor rod work of adit tunnels of water conservancy projects and other building tunnels and mine tunnels.

Description

Technical Field

[0001] This invention relates to the field of tunnel drilling and anchoring technology, and more specifically, to a tunnel construction drilling and anchoring device and construction method. Background Technology

[0002] In the construction of pumped storage power stations, the excavation and support operations of tunnel engineering face enormous challenges. Traditional inclined shaft construction relies on manual labor, which has problems such as high labor intensity, high safety risks, and low efficiency. Although mechanized equipment such as integrated blasting and excavation trolleys have improved working conditions, new technical bottlenecks are currently emerging: with the improvement of support design standards, the rock penetration depth of anchor bolts has increased significantly. For example, the anchor bolt depth of water diversion inclined shafts can reach 4.5 meters, and existing equipment is unable to meet this requirement.

[0003] The main shortcomings of existing technologies are as follows: First, there is a structural contradiction between equipment functionality and construction requirements. To drill ultra-deep anchor bolt holes, a long-stroke propulsion system is required. However, the long propulsion beam of the existing boom-type rock drill cannot be flexibly rotated and positioned within the limited tunnel cross-section. A single system cannot simultaneously meet the requirements of "long-stroke drilling" and "flexible construction at multiple angles," resulting in the inability to complete continuous operations of excavation holes and deep anchor bolt holes within the same work cycle.

[0004] Secondly, it forces a return to inefficient and high-risk manual rod splicing operations. When drilling is not possible in one go, manual rod splicing must be used: after drilling a section of drill rod, the machine must be stopped, disassembled, manually spliced, and repositioned. In the steep working environment of inclined shafts, it is extremely difficult to manually carry and connect heavy drill rods, posing a high safety risk. Even when using an auxiliary platform, interference with the equipment boom is common.

[0005] Third, automation process interruptions and efficiency bottlenecks. The automation of existing equipment is mainly aimed at the continuous drilling process. The manual rod connection process forces the automated production line to be interrupted, significantly increasing the auxiliary time and preventing the efficiency advantages of mechanized equipment from being realized.

[0006] Fourth, insufficient adaptability. Existing equipment lacks an intelligent response mechanism to changes in drilling depth and cannot automatically adjust its working mode according to different hole depths, resulting in poor adaptability in scenarios involving mixed construction of excavation holes and anchor bolt holes.

[0007] The deeper technical contradiction lies in the fact that tunnel construction must meet the long stroke requirements of ultra-deep anchor bolt holes, ensure the flexible positioning capability of equipment in confined spaces, and realize continuous automated operation of drilling at different depths. These three requirements are mutually restrictive under the existing technological framework, forming a technical dilemma that is difficult to overcome.

[0008] Therefore, there is an urgent need for a tunnel construction drilling and anchoring device and construction method to solve the above technical problems. Summary of the Invention

[0009] The purpose of this invention is to provide a tunnel construction drilling and anchoring device and construction method to solve the above-mentioned technical problems.

[0010] To achieve the above objectives, the present invention provides the following technical solution: A tunnel construction drilling and anchoring device includes a boom system, a propulsion system, a specially designed drill rod system, and an electrical control system. The propulsion system is installed at the power output end of the boom system to provide drilling power. The boom system is installed at the front end of the tunnel drilling rig to control the multi-degree-of-freedom spatial positioning of the propulsion system. The specially designed drill rod system is driven by the propulsion system to complete the drilling action. The electrical control system is used to control the automated operation of the tunnel construction drilling and anchoring device. The propulsion system includes a propulsion beam, a propulsion cylinder, a hydraulic rock drill slidably mounted on the propulsion beam, a central support rod, and an end clamp fixedly mounted on the front end of the propulsion beam. The propulsion beam is fixed to the power output end of the boom system via a propulsion beam bracket. The cylinder body of the propulsion cylinder is fixed to the rear end of the propulsion beam, and the piston rod end is connected to the central support rod, which drives the central support rod to slide relative to the propulsion beam. A first steel wire rope is provided between the central support rod and the hydraulic rock drill to synchronously transmit the linear motion of the central support rod to the hydraulic rock drill, causing the hydraulic rock drill to slide relative to the propulsion beam. The output end of the hydraulic rock drill is connected to the specially designed drill rod system. The drill rod of the specially designed drill rod system passes through and is supported by the central support rod, and is selectively clamped and fixed by the end clamp during drilling.

[0011] As a preferred technical solution of the present invention, at least one compensation cylinder is provided between the propulsion beam bracket and the propulsion beam.

[0012] As a preferred technical solution of the present invention, the central support rod is slidably mounted on the propulsion beam via a slider. The slider is provided with a pulley. One end of the first steel wire rope is connected to the hydraulic rock drill, and the other end passes around the pulley and is fixed to the rear end of the propulsion beam. The first steel wire rope and the pulley constitute a movable pulley mechanism. When the propulsion cylinder drives the central support rod to move, the moving distance and speed of the hydraulic rock drill are twice that of the central support rod. The propulsion system also includes a pipeline reel that is slidably mounted on the propulsion beam. A second steel wire rope is provided between the hydraulic rock drill and the pipeline reel to synchronously transmit the movement of the hydraulic rock drill to the pipeline reel.

[0013] As a preferred technical solution of the present invention, the special drill rod system includes a first special drill rod and a second special drill rod. The first special drill rod is a hollow tubular structure, with a first locking thread and a second locking thread of opposite directions machined at both ends of its inner hole. The first locking thread is located at the working end near the drill bit of the first special drill rod, and the second locking thread is located at the connecting end away from the drill bit. The rod body of the first special drill rod is selectively clamped on the end holder. The second special drill rod includes a coaxially connected thick rod section and a thin rod section. One end of the thick rod section is fixed inside the hydraulic rock drill, and the other end extends coaxially out of the... The thin rod portion has an outer diameter that matches the inner diameter of the first specially made drill rod. The outer surface of the thin rod portion has a third locking thread and a fourth locking thread with opposite directions of rotation at its end and middle, respectively. The third locking thread is closer to the second specially made drill rod bit than the fourth locking thread. The rotation direction of the first locking thread is the same as that of the third locking thread, and the rotation direction of the second locking thread is the same as that of the fourth locking thread. The distance between the first locking thread and the second locking thread is set as L1, and the distance between the third locking thread and the fourth locking thread is set as L2, where L2 is less than L1. In the first working state, the first locking thread is engaged with the third locking thread, the first special drill rod is completely nested outside the thin rod section, and the overall length of the special drill rod system is at its shortest. In the second working state, the second locking thread engages with the fourth locking thread, the first special drill rod and the second special drill rod are connected in a straight line, and the overall length of the special drill rod system is the longest.

[0014] As a preferred technical solution of the present invention, during the process of switching from the first working state to the second working state, the first special drill rod is fixed by the end clamp, and the second special drill rod moves along its axial direction toward the thick rod portion, with the moving distance being equal to the difference between L1 and L2.

[0015] As a preferred technical solution of the present invention, the boom system includes a boom mounting base, a boom, a telescopic boom, a right triangular hydraulic cylinder, and a left triangular hydraulic cylinder. The boom mounting base is fixed to the front end of the tunnel drilling rig. One end of the boom is hinged to the boom mounting base. The cylinder bodies of the right and left triangular hydraulic cylinders are symmetrically hinged to the boom mounting bases on the right and left sides of the boom, respectively, and the piston rod ends are respectively hinged to the boom, jointly controlling the pitch and swing of the boom. The telescopic boom is slidably nested inside the boom and connected to the power output end of the telescopic hydraulic cylinder fixed to the boom. The power output end of the telescopic boom is provided with an end swing mechanism. The power output end of the end swing mechanism is connected to the propulsion system for driving the propulsion system to swing at multiple angles.

[0016] As a preferred technical solution of the present invention, the end swing mechanism includes an axial swing cylinder and a radial swing cylinder. The cylinder body end of the axial swing cylinder is connected to the power output end of the telescopic arm, and the piston rod end is connected to the cylinder body end of the radial swing cylinder. The piston rod end of the radial swing cylinder is connected to the propulsion system. The axial swing cylinder is used to control the propulsion system to rotate around its own axis, and the radial swing cylinder is used to control the propulsion system to swing in a plane perpendicular to its own axis.

[0017] As a preferred technical solution of the present invention, a pull wire sensor is installed on the central support rod to detect the displacement of the central support rod in real time; a pressure sensor is provided in the hydraulic circuit of the hydraulic rock drill to monitor its rotational pressure in real time; the electrical control system is electrically connected to the pull wire sensor and the pressure sensor respectively.

[0018] A construction method for a tunnel construction drilling and anchoring device, used in the tunnel construction drilling and anchoring device, includes the following steps: S1. Working Condition Perception and Mode Prediction: The electronic control system receives input design parameters, which include at least the target hole coordinates, design hole depth, and hole type identifier. The hole type identifier is used to distinguish between tunneling blast holes and anchor bolt holes. Based on the hole type identifier and the design hole depth, the electronic control system predicts the required drill rod working state for the target hole: if the design hole depth is less than or equal to a first threshold depth, it predicts to use the first working state; if the design hole depth is greater than the first threshold depth, it predicts to use the second working state and plans the extension point, and generates an extension trigger depth D′. The extension trigger depth D′ is less than or equal to the maximum effective stroke of the special drill rod system in the first working state, and less than the maximum effective stroke minus a preset safety margin. S2. Hole Locating: The electronic control system calculates the target hole position coordinates and controls the boom system to position the end of the propulsion system to the target point; S3. Adaptive drilling and status monitoring: The electronic control system starts the hydraulic rock drill and uses a pressure sensor installed on the hydraulic rock drill to monitor the real-time rotational pressure P in real time. The real-time rotational pressure P is compared with a first set pressure threshold P1 and a second set pressure threshold P2, wherein the first set pressure threshold P1 is less than the second set pressure threshold P2. When P < P1, it is determined that the drilling resistance is small, and the electronic control system controls the hydraulic rock drill to enter the high-impact - high-rotation speed mode; when P1 ≤ P < P2, it is determined that the drilling is normal, and the electronic control system controls the hydraulic rock drill to enter the standard impact mode; when P ≥ P2, it is determined that the drilling resistance has increased abnormally, and the electronic control system immediately controls the hydraulic rock drill to switch to the low-impact - high-torque mode and reduces the propulsion speed. A drilling depth sensor is provided on the propulsion beam, and the drilling depth sensor monitors the real-time drilling depth D in real time. S4. Conditional trigger type automatic extension: When the electronic control system determines that the following two conditions are simultaneously satisfied, the extension program is automatically triggered: Condition A: The real-time drilling depth D reaches the preset extension trigger depth D′, where the extension trigger depth D′ ≤ the maximum effective stroke of the special drill pipe system in the first working state; Condition B: The first set pressure threshold P1 ≤ the real-time rotation pressure P < the second set pressure threshold P2; The extension program includes the following steps: a) The electronic control system controls the propulsion cylinder to stop propulsion and maintain pressure; b) Control the end gripper to clamp the first special drill pipe; c) Control the hydraulic rock drill to reverse, and at the same time control the propulsion cylinder to retract at a preset speed; d) Under the combined action of reverse rotation and retraction, the special drill pipe system automatically switches from the first working state to the second working state; e) After the wire rope sensor installed on the middle drill pipe support confirms the completion of extension, release the end gripper; S5. Adaptive continuous drilling and end hole judgment after extension: After the extension program is completed, resume the forward rotation and impact of the hydraulic rock drill, and re-enter step S3 to continue drilling according to the current real-time rotation pressure P. When the real-time drilling depth D ≥ the designed hole depth, it is determined that the hole is completed, and all drilling actions are stopped and the special drill pipe system is retracted.

[0019] As a preferred technical solution of the present invention, the middle drill pipe support is slidably installed on the propulsion beam through a slider, a pulley is provided on the slider, one end of the first wire rope is connected to the hydraulic rock drill, and the other end bypasses the pulley and is fixed on the propulsion beam, and the first wire rope and the pulley form a movable pulley mechanism; A first displacement sensor is provided on the propulsion beam, and the first displacement sensor measures the displacement x of the middle drill pipe support along the propulsion beam in real time sThe hydraulic rock drill is equipped with a second displacement sensor, which measures the displacement of the hydraulic rock drill along the propulsion beam in real time as x. h Under the displacement multiplication relationship corresponding to the movable pulley mechanism, the theoretical displacement of the hydraulic rock drill is set as x. h =2x s The electronic control system is based on real-time measured x h With x s Calculate the synchronization error e and the rate of change of the synchronization error E: e=x h -2xs; E=de / dt; Where t is time, in seconds; The electronic control system corrects the reference advance speed v2 of the central support rod to obtain the target speed v1 of the central support rod:

[0020] Where v2 is the reference advance speed of the central support rod, and K p and K d This is the gain for compensating for synchronization errors.

[0021] In summary, compared with the prior art, the beneficial effects of the present invention are: The tunnel construction drilling and anchoring device of the present invention solves the multiple contradictions in the construction of ultra-deep anchor holes. The specially designed drill rod system realizes automatic extension within a large depth range, avoiding the dangerous operation of manual rod extension. The moving pulley mechanism achieves a long stroke with a compact size, solving the contradiction between equipment size and drilling depth. The boom system and propulsion system are designed separately, which ensures both positioning accuracy and bearing the drilling reaction force. The whole device achieves the unity of long stroke, high precision and multi-functionality in a limited space. The construction method of the tunnel construction drilling and anchoring device of the present invention realizes continuous automated construction from shallow holes to deep holes through steps such as working condition perception, mode prediction, adaptive drilling, and condition-triggered automatic extension. The pressure adaptive control enables the equipment to intelligently cope with different rock strata; dual condition judgment ensures the safety and reliability of extension operation; and synchronous error compensation ensures the accuracy of long-stroke transmission. This not only improves construction efficiency but also fundamentally eliminates the safety risks of manual rod extension, realizing the full mechanization and automation of pumped storage inclined shaft construction. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the operation of the tunnel construction drilling and anchoring device of the present invention; Figure 2 for Figure 1 A-view diagram; Figure 3 for Figure 1A B-view diagram; Figure 4 This is a three-dimensional schematic diagram of the tunnel construction drilling and anchoring device of the present invention; Figure 5 This is a three-dimensional schematic diagram of the propulsion system of the present invention; Figure 6 This is a cross-sectional view of the propulsion system of the present invention; Figure 7 This is a schematic diagram of the first specially designed drill pipe of the present invention; Figure 8 This is a schematic diagram of the second specially designed drill pipe of the present invention; Among them, 1-tunnel construction drilling and anchoring device, 2-boom system, 21-boom mounting base, 22-boom, 23-telescopic boom, 24-right triangular cylinder, 25-left triangular cylinder, 26-telescopic cylinder, 27-end swing mechanism, 271-axial swing cylinder, 272-radial swing cylinder, 3-propulsion system, 31-propulsion beam, 32-propulsion cylinder, 33-hydraulic rock drill, 34-middle drill hold, 35-end clamp Holder, 36-Propulsion beam bracket, 37-First wire rope, 38-Slider, 381-Pulley, 39-Pipeline reel, 310-Second wire rope, 4-Special drill rod system, 41-First special drill rod, 411-First locking thread, 412-Second locking thread, 42-Second special drill rod, 421-Rough rod section, 422-Thin rod section, 423-Third locking thread, 424-Fourth locking thread, 5-Compensation cylinder. Detailed Implementation

[0023] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments given herein are for illustration and explanation only and are not intended to limit the present invention.

[0024] like Figures 1 to 6 As shown, a tunnel construction drilling and anchoring device 1 includes a boom system 2, a propulsion system 3, a special drill rod system 4, and an electrical control system. The propulsion system 3 is installed at the power output end of the boom system 2 to provide drilling power. The boom system 2 is installed at the front end of the tunnel drilling rig to control the multi-degree-of-freedom spatial positioning of the propulsion system 3. The special drill rod system 4 is driven by the propulsion system 3 to complete the drilling action. The electrical control system is used to control the automated operation of the tunnel construction drilling and anchoring device 1. The propulsion system 3 includes a propulsion beam 31, a propulsion cylinder 32, a hydraulic rock drill 33 slidably mounted on the propulsion beam 31, a central support rod 34, and an end clamp 35 fixedly mounted at the front end of the propulsion beam 31. The propulsion beam 31 is fixed to the power output end of the boom system 2 via a propulsion beam bracket 36. The cylinder end of the propulsion cylinder 32 is fixed to the rear end of the propulsion beam 31, and the piston rod end is connected to the central support rod 34 to drive the central support rod 34 to slide relative to the propulsion beam 31. A first steel wire rope 37 is provided between the central support rod 34 and the hydraulic rock drill 33 to synchronously transmit the linear motion of the central support rod 34 to the hydraulic rock drill 33, thereby driving the hydraulic rock drill 33 to slide relative to the propulsion beam 31. The output end of the hydraulic rock drill 33 is connected to a special drill rod system 4. The drill rod of the special drill rod system 4 passes through the central support rod 34 and is supported by it. During the drilling process, it is selectively clamped and fixed by the end clamp 35.

[0025] Boom system 2, acting as the positioning actuator, is responsible for achieving precise spatial positioning with multiple degrees of freedom. Propulsion system 3, acting as the power actuator, provides the propulsion and rotation power required for drilling. Through functional separation, the positioning mechanism of boom system 2 does not directly bear the reaction forces and vibration impacts generated during drilling, thus ensuring stable and reliable positioning accuracy. Simultaneously, the vibration and impact loads generated during drilling are primarily absorbed and buffered by propulsion system 3 itself, significantly reducing the transmission to boom system 2 and effectively extending its service life.

[0026] The propulsion beam 31 serves as the basic support and structural guide rail for the entire propulsion system 3. Key execution components such as the hydraulic rock drill 33, the central support rod 34, and the end clamp 35 are integrated on it, forming a compact and functionally integrated drilling execution unit. This unit adopts a single propulsion cylinder 32 drive design. The central support rod 34 is driven to slide along the propulsion beam 31 by only one propulsion cylinder 32. Then, with the help of the movable pulley 381 mechanism composed of the first wire rope 37 and the pulley 381, the linear motion of the central support rod 34 is synchronously transmitted to the hydraulic rock drill 33. This allows the stroke of the hydraulic rock drill 33 to be twice the stroke of the central support rod 34, thereby achieving a longer effective drilling stroke with a shorter cylinder stroke and significantly improving space utilization efficiency. The first wire rope 37 transmission ensures that the hydraulic rock drill 33 and the central support rod 34 always move synchronously, so that the drill rod receives continuous and uniform support throughout the entire propulsion process, effectively preventing the drill rod from swaying and bending. Compared with the traditional dual-cylinder or multi-cylinder propulsion system 3, it greatly simplifies the hydraulic pipeline layout and control system complexity, and improves the system reliability.

[0027] During drilling operations, the central support rod 34 continuously slides and supports the drill rod body, suppressing bending and vibration. The end clamp 35 selectively clamps the drill rod under specific working conditions, forming a "double-point support" with the central support rod 34. This significantly enhances the stability and accuracy of the drilling process. Especially in drill rod extension operations, the end clamp 35 can reliably fix the drill rod portion that has been drilled into the rock mass, providing a stable mechanical basis for the extension operation. This ensures that the extension process is smooth and precise, and can flexibly adapt to different rock strata conditions and changes in drilling depth, guaranteeing the quality of hole formation under various complex working conditions.

[0028] During operation, the propulsion cylinder 32 extends as instructed, driving the central support rod 34 to slide forward along the propulsion beam 31. Through the transmission of the first wire rope 37 and the movable pulley 381 mechanism, the hydraulic rock drill 33 advances synchronously at twice the speed of the support rod, driving the drill rod to rotate and impact the rock. The drill rod drills smoothly under the full support of the central support rod 34. If the sensor detects an abnormal increase in drilling resistance or if it is necessary to perform operations such as rod extension or positioning, the end clamp 35 can actively clamp the drill rod to provide additional fixation. The electrical control system dynamically adjusts the propulsion speed, rotation parameters and impact energy level in real time based on multi-source feedback information such as the pressure sensor installed in the circuit of the hydraulic rock drill 33, the displacement sensor on the propulsion beam 31 and the pull wire sensor on the central support rod 34, to achieve adaptive, high-efficiency and high-precision intelligent drilling operation.

[0029] In a preferred embodiment of the present invention, at least one compensation cylinder 5 is provided between the propulsion beam bracket 36 and the propulsion beam 31.

[0030] After the boom system 2 positions the propulsion system 3 to the target hole position, the compensation cylinder 5 first enters the "floating" or "low-pressure following" state. As the propulsion system 3 slowly approaches the rock surface, the drill bit first contacts the rock. Due to unevenness or slight angle deviation of the rock surface, the contact force of the drill bit will be uneven. At this time, the piston rod of the compensation cylinder 5 undergoes slight extension and retraction under the action of contact reaction force, automatically adjusting the angle of the propulsion beam 31 so that the drill bit axis automatically aligns with the normal direction of the rock surface, achieving "self-adaptive alignment". The drill bit can closely contact the rock and adapt to the unevenness of the working surface. In addition, the compensation cylinder 5 keeps the output force of its piston rod constant according to the preset contact pressure value. When the rock hardness changes and causes a sudden change in drill bit resistance, in order to maintain a constant contact pressure, the compensation cylinder 5 will finely adjust its extension and retraction in real time to absorb or release the displacement difference caused by the change in resistance, thereby ensuring the smooth interaction force between the drill bit and the rock.

[0031] In a preferred embodiment of the present invention, the central support rod 34 is slidably mounted on the push beam 31 via a slider 38. The slider 38 is provided with a pulley 381. One end of the first wire rope 37 is connected to the hydraulic rock drill 33, and the other end passes around the pulley 381 and is fixed to the rear end of the push beam 31. The first wire rope 37 and the pulley 381 constitute a movable pulley 381 mechanism. When the push cylinder 32 drives the central support rod 34 to move, the moving distance and speed of the hydraulic rock drill 33 are twice that of the central support rod 34. The propulsion system 3 also includes a pipe reel 39 that is slidably mounted on the propulsion beam 31. A second wire rope 310 is provided between the hydraulic rock drill 33 and the pipe reel 39 to synchronously transmit the movement of the hydraulic rock drill 33 to the pipe reel 39.

[0032] This invention applies the principle of the movable pulley 381 to the rock drilling propulsion system 3, achieving the advantage of obtaining a long drilling stroke with a single cylinder and a short stroke. Through the pulley 381 mechanism, the actual stroke of the hydraulic rock drill 33 is amplified to twice the stroke of the central support rod 34, thus doubling the effective drilling stroke without increasing the total length of the propulsion beam 31 or the stroke of the propulsion cylinder 32. This not only greatly improves space utilization efficiency and solves the equipment layout problem of long-stroke drilling in narrow tunnels, but also significantly reduces the manufacturing difficulty, cost, and sealing requirements of long-stroke cylinders. The rigid transmission chain formed by the first wire rope 37 and the pulley 381 ensures the hydraulic drilling... The absolute synchronization and determinism of the movement relationship between the rock drill 33 and the central drill bit holder 34 avoids the risk of asynchronous movement caused by differences in hydraulic system response and uneven leakage when using dual-cylinder independent drive. It effectively suppresses the longitudinal bending and lateral swaying of the drill rod, laying a mechanical foundation for high-quality construction of deep holes and deviated holes. By using the second wire rope 310 to force the movement of the pipeline reel 39 and the hydraulic rock drill 33 to be synchronized, the automatic winding and unwinding management of hydraulic and water and electricity pipelines is realized. This ensures that the pipelines are wound and unwound in real time as the equipment moves, eliminating the risk of the pipelines being pulled, squeezed, or tangled, greatly improving reliability and reducing downtime caused by pipeline damage.

[0033] As a preferred embodiment of the present invention, such as Figures 7 to 8As shown, the special drill rod system 4 includes a first special drill rod 41 and a second special drill rod 42. The first special drill rod 41 is a hollow tubular structure, with a first locking thread 411 and a second locking thread 412 with opposite directions of rotation machined at both ends of its inner hole. The first locking thread 411 is located at the working end near the drill bit of the first special drill rod 41, and the second locking thread 412 is located at the connecting end away from the drill bit. The rod body of the first special drill rod 41 is selectively clamped on the end holder 35. The second special drill rod 42 includes a coaxially connected thick rod portion 421 and a thin rod portion 422. One end of the thick rod portion 421 is fixed inside the hydraulic rock drill 33, and the other end coaxially extends out to the thin rod portion 422. The outer diameter of the thin rod portion 422 matches the inner diameter of the first special drill rod 41. The end and middle parts of the outer surface of the thin rod portion 422 are respectively machined with a third locking thread 423 and a fourth locking thread 424 with opposite directions of rotation. The third locking thread 423 is closer to the drill bit of the second special drill rod 42 than the fourth locking thread 424. The rotation direction of the first locking thread 411 is the same as that of the third locking thread 423, and the rotation direction of the second locking thread 412 is the same as that of the fourth locking thread 424. The distance between the first locking thread 411 and the second locking thread 412 is set as L1, and the distance between the third locking thread 423 and the fourth locking thread 424 is set as L2, where L2 is less than L1. In the first working state, the first locking thread 411 and the third locking thread 423 are engaged, the first special drill rod 41 is completely nested outside the thin rod part 422, and the overall length of the special drill rod system 4 is the shortest. In the second working state, the second locking thread 412 and the fourth locking thread 424 are engaged, the first special drill rod 41 and the second special drill rod 42 are connected in a straight line, and the overall length of the special drill rod system 4 is the longest.

[0034] This invention upgrades the traditional discrete lengthening method of multi-segment drill rods to a continuous telescopic variable length function of a single drill rod. Through the unique threaded nesting and reconnection structure between the first specially made drill rod 41 and the second specially made drill rod 42, a smooth switching between the "shortest state" and the "longest state" of the same drill rod system is achieved. This allows the equipment to complete drilling tasks with a large depth coverage within a single work cycle without stopping the machine to replace the drill rod, fundamentally changing the operation mode of drill rod extension. At the initial stage of work or during shallow hole construction, the drill rod is in its "shortest state," with its overall length greatly shortened. This minimizes the turning radius of the propulsion system, allowing it to swing freely in confined spaces such as inclined shafts and flexibly position itself to boreholes or anchor bolt holes in various directions. This solves the industry pain point of long drill rods easily colliding and interfering with tunnel walls and trolley booms when drilling deep holes. When drilling deep holes, it can automatically extend to its "longest state" to obtain the required stroke. One system and one posture can adapt to the needs of drilling across the entire cross-section, ensuring extremely high operational continuity. Using threaded connection as the only connection and force transmission method, it has advantages such as high connection strength, good reliability, clear force transmission path, and controllable preload. It can reliably transmit the high-frequency impact load and huge torque generated by the hydraulic rock drill 33. Compared with traditional slotted, pin-type, or friction quick couplings, threaded connection has stronger anti-loosening ability and longer service life under long-term impact and vibration. It allows the working thread to be naturally locked under the rotational force during drilling, providing an anti-loosening and self-tightening effect.

[0035] Working principle in the first working state: In this state, the thin rod portion 422 at the front end of the second special drill rod 42, driven by the hydraulic rock drill 33, extends into the inner hole of the first special drill rod 41. The third locking thread 423 at the end of the thin rod portion 422 engages and tightens with the first locking thread 411 of the first special drill rod 41 near the drill bit. At this time, the fourth locking thread 424 and the second locking thread 412 are axially separated and do not contact each other. In this state, the total length of the special drill rod system 4 is the shortest, suitable for shallow hole excavation or first-stage drilling. Its maximum effective drilling depth is limited by the stroke of the propulsion system 3 and the length of the first special drill rod 41 "extending" from the nested state. Working principle of switching from the first working state to the second working state: When the drilling reaches the preset extension trigger depth and the working condition is stable, the end gripper 35 grips the rod body of the first special drill rod 41, making it absolutely fixed relative to the tunnel rock mass and the propulsion beam 31; the hydraulic rock drill 33 starts to reverse (opposite to the normal drilling rotation direction). Since the first special drill rod 41 has been clamped and fixed, the reverse rotation causes the third locking thread 423 of the second special drill rod 42 to screw out from the first locking thread 411 of the first special drill rod 41. At the same time, the propulsion cylinder 32 controls the middle drill rod holder 34 to start synchronous retraction. Under the dual effects of the reverse rotation of the hydraulic rock drill 33 and the system retraction, the second special drill rod 42 as a whole moves backward relative to the fixed first special drill rod 41. Since L2 < L1, when the third thread is completely screwed out, the fourth locking thread 424 on the second special drill rod 42 is exactly aligned with the second locking thread 412 on the first special drill rod 41 in the axial position. The hydraulic rock drill 33 continues to reverse, and the fourth locking thread 424 starts to screw into the second locking thread 412. Since their thread rotation directions are the same, the reverse rotation continues to drive them to tighten. When the thread engagement is in place, the extension is completed.

[0036] Working principle of the second working state: The first special drill rod 41 and the second special drill rod 42 form an end-to-end linear series through the engagement of the second locking thread 412 and the fourth locking thread 424. The first special drill rod 41 is no longer sleeved outside the thin rod part 422, but serves as an independent section and is arranged in a front-back relationship with the thin rod part 422 of the second special drill rod 42. At this time, the total length of the special drill rod system 4 reaches the maximum value (L1 + effective length of the thin rod part 422 + embedded length of the thick rod part 421), which is applicable to working conditions such as ultra-deep anchor bolt holes. Since L2 < L1, in the series state, a part of the length of the thin rod part 422 still remains in the inner hole of the first special drill rod 41, playing a certain guiding and auxiliary supporting role.

[0037] As a preferred embodiment of the present invention, during the process of switching from the first working state to the second working state, the first special drill rod 41 is fixed by the end gripper 35, and the second special drill rod 42 moves along its axis in the direction of the thick rod part 421, and the moving distance is equal to the difference between L1 and L2.

[0038] The difference between L2 and L1 defines the distance that the second special drill rod 42 needs to move backward relative to the first special drill rod 41 during the switching process. Only when the moving distance is equal to ΔL = L2 - L1 can the two pairs of threads accurately achieve "disengagement" and "alignment".

[0039] In a preferred embodiment of the present invention, the boom system 2 includes a boom mounting base 21, a boom 22, a telescopic boom 23, a right triangular cylinder 24, and a left triangular cylinder 25. The boom mounting base 21 is fixed to the front end of the tunnel drilling rig. One end of the boom 22 is hinged to the boom mounting base 21. The cylinder ends of the right triangular cylinder 24 and the left triangular cylinder 25 are symmetrically hinged to the boom mounting bases 21 on the right and left sides of the boom 22, respectively, and the piston rod ends are respectively hinged to the boom 22, jointly controlling the pitch and swing of the boom 22. The telescopic boom 23 is slidably nested inside the boom 22 and connected to the power output end of the telescopic cylinder 26 fixed on the boom 22. The power output end of the telescopic boom 23 is provided with an end swing mechanism 27. The power output end of the end swing mechanism 27 is connected to a propulsion system 3 for driving the propulsion system 3 to swing at multiple angles.

[0040] The boom system 2 adopts a composite motion configuration of "boom 22 rotation and pitch + telescopic boom 23 linear telescopic + end-effector dual-axis swing", forming more than 4 degrees of freedom of motion. It can accurately deliver the propulsion system 3 to almost any target borehole position across the entire tunnel cross-section and in the forward depth range. Especially for pumped storage tunnels with large cross-sections and multiple rows of blast holes and anchor bolt holes, one boom can cover all drilling tasks without frequent movement of the trolley body, resulting in extremely high work efficiency.

[0041] In a preferred embodiment of the present invention, the end swing mechanism 27 includes an axial swing cylinder 271 and a radial swing cylinder 272. The cylinder body end of the axial swing cylinder 271 is connected to the power output end of the telescopic arm 23, and the piston rod end is connected to the cylinder body end of the radial swing cylinder 272. The piston rod end of the radial swing cylinder 272 is connected to the propulsion system 3. The axial swing cylinder 271 is used to control the propulsion system 3 to rotate around its own axis, and the radial swing cylinder 272 is used to control the propulsion system 3 to swing in a plane perpendicular to its own axis.

[0042] In a preferred embodiment of the present invention, a pull wire sensor is installed on the central support rod 34 for real-time detection of the displacement of the central support rod 34; a pressure sensor is provided in the hydraulic circuit of the hydraulic rock drill 33 for real-time monitoring of its rotational pressure; and the electrical control system is electrically connected to the pull wire sensor and the pressure sensor respectively.

[0043] By analyzing the smoothness of the displacement curve of the wire rope sensor, mechanical faults such as guide rail wear, wire rope slippage, or slider jamming can be indirectly identified. Abnormal displacement jumps or speed fluctuations are early signs of faults. Abnormal high-frequency oscillations in rotational pressure may indicate air intake or valve failure in the hydraulic system. Persistently low pressure may indicate internal leakage, and abnormally high pressure under no-load conditions may indicate rotary motor jamming. This provides key data for predictive maintenance, transforming "reactive maintenance" into "proactive maintenance" and reducing unplanned downtime.

[0044] A construction method for a tunnel construction drilling and anchoring device 1, which is used for the tunnel construction drilling and anchoring device 1, includes the following steps: S1. Working condition perception and mode prediction: The electronic control system receives the input design parameters, which at least include the target hole position coordinates, the designed hole depth, and the hole type identifier. The hole type identifier is used to distinguish the driving blast holes from the anchor bolt holes; according to the hole type identifier and the designed hole depth, the electronic control system predicts the required working state of the drill pipe for the target hole: if the designed hole depth is less than or equal to the first threshold depth, it is predicted to use the first working state; if the designed hole depth is greater than the first threshold depth, it is predicted to use the second working state and plan the extension point, and generate an extension trigger depth D′, where the extension trigger depth D′ is less than or equal to the maximum effective stroke of the special drill pipe system 4 in the first working state and less than the maximum effective stroke minus the preset safety margin; The extension trigger depth D′ is used to limit the trigger interval of the drill pipe extension action, so that the drill pipe state switch occurs under the condition that the first working state still has a remaining effective stroke and the drilling working condition is stable, thereby avoiding drill pipe switching when the propulsion stroke is exhausted or the drilling resistance is abnormal, improving the reliability and safety of the extension process, and ensuring the continuity of the drilling operation.

[0045] S2. Hole searching: The electronic control system calculates according to the target hole position coordinates and controls the boom system 2 to position the end of the propulsion system 3 to the target point; S3. Adaptive drilling and state monitoring: The electronic control system starts the hydraulic rock drill 33, and uses the pressure sensor installed on the hydraulic rock drill 33 to monitor the real-time rotation pressure P in real time, and compares the real-time rotation pressure P with the first set pressure threshold P1 and the second set pressure threshold P2, where the first set pressure threshold P1 is less than the second set pressure threshold P2; When P < P1, it is determined that the drilling resistance is small, and the electronic control system controls the hydraulic rock drill 33 to enter the high-impact - high-speed mode; when P1 ≤ P < P2, it is determined that the drilling is normal, and the electronic control system controls the hydraulic rock drill 33 to enter the standard impact mode; when P ≥ P2, it is determined that the drilling resistance increases abnormally, and the electronic control system immediately controls the hydraulic rock drill 33 to switch to the low-impact - high-torque mode and reduces the propulsion speed; A drilling depth sensor is provided on the propulsion beam 31, and the drilling depth sensor monitors the real-time drilling depth D in real time; The first set pressure threshold P1 represents the demarcation threshold for "low load - light load drilling". When the real-time rotary pressure P < P1, it indicates that the rotary load is small and the cutting resistance of the drill bit is small. The second set pressure threshold P2 represents the warning threshold for "normal load - abnormally high load". When the real-time rotary pressure P ≥ P2, it indicates that the rotary load has increased abnormally. Common causes include hard interlayers, slag in the hole, drill bit jamming, hole wall extrusion, deviation of the hole resulting in increased friction, etc., and there is a risk of drill string sticking or tool overload. P1 and P2 are calibrated and determined based on the drill rig specification parameters, drill bit diameter, hole type identification, and historical drilling data, and the load level corresponding to P2 is the warning threshold before the risk of drill string sticking or overload occurs.

[0046] S4. Conditional trigger type automatic extension: When the electric control system determines that the following two conditions are simultaneously met, the extension program is automatically triggered: Condition A: The real-time drilling depth D reaches the preset extension trigger depth D′, where the extension trigger depth D′ ≤ the maximum effective stroke of the special drill pipe system 4 in the first working state; Condition B: The first set pressure threshold P1 ≤ the real-time rotary pressure P < the second set pressure threshold P2; The extension program includes the following steps: a) The electric control system controls the propulsion cylinder 32 to stop advancing and maintain pressure; b) Control the end gripper 35 to clamp the first special drill pipe 41; c) Control the hydraulic rock drill 33 to reverse, and at the same time control the propulsion cylinder 32 to retract at a preset speed; d) Under the combined action of reverse rotation and retraction, the special drill pipe system 4 automatically switches from the first working state to the second working state; e) After the wire rope sensor installed on the middle drill pipe support 34 confirms the completion of extension, release the end gripper 35; First, the reverse rotation of the hydraulic rock drill 33 causes the third locking thread 423 of the second special drill pipe 42 to be unscrewed from the first locking thread 411 of the first special drill pipe 41; at the same time, the retraction of the propulsion cylinder 32 causes the second special drill pipe 42 (through the hydraulic rock drill 33 and the middle drill pipe support) to move backward relative to the first special drill pipe 41 that is clamped and fixed. When the third thread is completely unscrewed, continuing to reverse and retract will cause the fourth locking thread 424 of the second special drill pipe 42 to be screwed into the second locking thread 412 of the first special drill pipe 41 until in place (confirmed by the wire rope sensor) S5. Adaptive continuous drilling and end hole judgment after extension: After the extension program is completed, resume the forward rotation and impact of the hydraulic rock drill 33, and re-enter step S3 to continue drilling according to the current real-time rotary pressure P. When the real-time drilling depth D ≥ the designed hole depth, determine the end of the hole, stop all drilling operations and retract the special drill pipe system 4.

[0047] In a preferred embodiment of the present invention, the central support rod 34 is slidably mounted on the push beam 31 via a slider 38. A pulley 381 is provided on the slider 38. One end of the first wire rope 37 is connected to the hydraulic rock drill 33, and the other end passes around the pulley 381 and is fixed on the push beam 31. The first wire rope 37 and the pulley 381 constitute a movable pulley 381 mechanism. A first displacement sensor is installed on the propulsion beam 31. The first displacement sensor measures the displacement x of the middle support rod 34 along the propulsion beam 31 in real time. s The hydraulic rock drill 33 is equipped with a second displacement sensor, which measures the displacement of the hydraulic rock drill 33 along the propulsion beam 31 in real time as x. h Under the displacement multiplication relationship corresponding to the movable pulley 381 mechanism, the theoretical displacement of the hydraulic rock drill 33 is set as x. h =2x s The electronic control system is based on the real-time measured x h With x s Calculate the synchronization error e and the rate of change of the synchronization error E: e=x h -2x s ; E=de / dt; Where t is time, in seconds; The electronic control system corrects the reference advance speed v2 of the central support rod 34 to obtain the target speed v1 of the central support rod 34:

[0048] Where v2 is the reference advance speed of the central support rod 34, and K p and K d This is the gain for compensating for synchronization errors.

[0049] This invention introduces a closed-loop feedback control mechanism. By using two displacement sensors to monitor the actual position of key components in real time, it can detect and quantify any deviations in the transmission process and immediately calculate correction commands through algorithms. This achieves proactive maintenance and high-precision assurance of the core transmission relationship that "the displacement of the hydraulic rock drill 33 is twice the displacement of the central support rod 34". This solves the problem of cumulative errors that may be caused by factors such as the elastic elongation of the wire rope, wear of the pulley 381, and uneven friction in pure mechanical transmission. The calculated target speed v1 of the central support rod 34 is sent to the electro-hydraulic proportional valve or servo valve that controls the propulsion cylinder 32. Based on the magnitude and direction of v1, the flow rate and direction of the hydraulic oil input to the propulsion cylinder 32 are adjusted, thereby precisely controlling the extension and retraction speed of the piston rod, that is, controlling the actual movement speed of the central support rod 34.

[0050] Synchronization error compensation gain K p K dThe control parameters are pre-set in the electronic control system. Their specific values ​​are obtained based on the mechanical structure parameters of the propulsion system 3 and the response characteristics of the propulsion cylinder 32, and are calibrated through no-load and load tests to ensure that the actual displacement x of the hydraulic rock drill 33 is within the entire drilling operation. h It can quickly and smoothly track its theoretical displacement 2x s This will keep the synchronization error e within the allowable range.

[0051] Working principle of the construction method of the tunnel construction drilling and anchoring device 1 of the present invention: Working state switching mechanism: The tunnel construction drilling and anchoring device 1 is initially in the first working state. At this time, the first special drill rod 41 is screwed into the third locking thread 423 of the second special drill rod 42 through the first locking thread 411. The special drill rod system 4 is in a nested shortening state. When the drilling depth reaches the preset extension trigger depth D′ and the drilling pressure is within the normal range, the electrical control system triggers the extension program: the end clamp 35 clamps the first special drill rod 41, the hydraulic rock drill 33 reverses and the propulsion cylinder 32 retracts. Under the combined action of reversal and retraction, the third locking thread 423 of the second special drill rod 42 is screwed out from the first special drill rod 41. At the same time, the drill rod moves relative to the first special drill rod 41, with a moving distance of L1-L2, until the fourth locking thread 424 of the second special drill rod 42 is screwed into the second locking thread 412 of the first special drill rod 41, completing the switch to the second working state. At this time, the special drill rod system 4 is in a straight series state and the length reaches the maximum.

[0052] Power transmission and synchronous control: The propulsion cylinder 32 drives the central support rod 34 to slide along the propulsion beam 31, and transmits the motion to the hydraulic rock drill 33 through the movable pulley 381 mechanism to achieve displacement multiplication. The displacement sensor monitors the position of both ends in real time, and the electronic control system dynamically adjusts the propulsion speed to ensure a strict 2:1 displacement relationship. The hydraulic rock drill 33 provides rotational and impact power, which is transmitted to the drill bit through the second specially made drill rod 42.

[0053] Work process: The electrical control system predicts the working mode based on the input design parameters. The boom system 2 positions the drill bit to the target hole. During drilling, the pressure sensor monitors the rotation pressure in real time. The electrical control system automatically adjusts the impact mode and propulsion speed to adapt to changes in the rock strata. When the extension conditions are met, the extension program is automatically executed. After completion, drilling continues until the design depth is reached. The entire process does not require manual intervention in the drill rod connection, realizing fully mechanized construction of ultra-deep anchor bolt holes.

[0054] It should be understood that the above embodiments are one or more embodiments of the present invention. There are many other embodiments and variations based on the present invention. Any variations and modifications made by those skilled in the art without making pioneering innovations are within the protection scope of the present invention.

Claims

1. A tunnel construction drilling and anchoring device, characterized in that: It includes a boom system, a propulsion system, a special drill rod system, and an electrical control system. The propulsion system is installed at the power output end of the boom system to provide drilling power. The boom system is installed at the front end of the tunnel drilling rig to control the multi-degree-of-freedom spatial positioning of the propulsion system. The special drill rod system is driven by the propulsion system to complete the drilling action. The electrical control system is used to control the automated operation of the tunnel construction drilling and anchoring device. The propulsion system includes a propulsion beam, a propulsion cylinder, a hydraulic rock drill slidably mounted on the propulsion beam, a central support rod, and an end clamp fixedly mounted on the front end of the propulsion beam. The propulsion beam is fixed to the power output end of the boom system via a propulsion beam bracket. The cylinder body of the propulsion cylinder is fixed to the rear end of the propulsion beam, and the piston rod end is connected to the central support rod, which drives the central support rod to slide relative to the propulsion beam. A first steel wire rope is provided between the central support rod and the hydraulic rock drill to synchronously transmit the linear motion of the central support rod to the hydraulic rock drill, causing the hydraulic rock drill to slide relative to the propulsion beam. The output end of the hydraulic rock drill is connected to the specially designed drill rod system. The drill rod of the specially designed drill rod system passes through and is supported by the central support rod, and is selectively clamped and fixed by the end clamp during drilling.

2. The tunnel construction drilling and anchoring device according to claim 1, characterized in that: At least one compensation cylinder is provided between the propulsion beam bracket and the propulsion beam.

3. The tunnel construction drilling and anchoring device according to claim 1, characterized in that: The central support rod is slidably mounted on the propulsion beam via a slider. The slider is equipped with a pulley. One end of the first steel wire rope is connected to the hydraulic rock drill, and the other end passes around the pulley and is fixed to the rear end of the propulsion beam. The first steel wire rope and the pulley form a movable pulley mechanism. When the propulsion cylinder drives the central support rod to move, the moving distance and speed of the hydraulic rock drill are twice that of the central support rod. The propulsion system also includes a pipeline reel that is slidably mounted on the propulsion beam. A second steel wire rope is provided between the hydraulic rock drill and the pipeline reel to synchronously transmit the movement of the hydraulic rock drill to the pipeline reel.

4. The tunnel construction drilling and anchoring device according to claim 1, characterized in that: The specialized drill rod system includes a first specialized drill rod and a second specialized drill rod. The first specialized drill rod is a hollow tubular structure with a first locking thread and a second locking thread of opposite directions machined at both ends of its inner bore. The first locking thread is located at the working end near the drill bit of the first specialized drill rod, and the second locking thread is located at the connecting end away from the drill bit. The rod body of the first specialized drill rod is selectively clamped on the end holder. The second specialized drill rod includes a coaxially connected thick rod section and a thin rod section. One end of the thick rod section is fixed inside the hydraulic rock drill, and the other end coaxially extends out from the thin rod section. The outer diameter of the rod part matches the inner diameter of the first specially made drill rod. The end and middle parts of the outer surface of the thin rod part are respectively machined with a third locking thread and a fourth locking thread with opposite directions of rotation. The third locking thread is closer to the second specially made drill rod bit than the fourth locking thread. The rotation direction of the first locking thread is the same as that of the third locking thread, and the rotation direction of the second locking thread is the same as that of the fourth locking thread. The distance between the first locking thread and the second locking thread is set as L1, and the distance between the third locking thread and the fourth locking thread is set as L2, where L2 is less than L1. In the first working state, the first locking thread is engaged with the third locking thread, the first special drill rod is completely nested outside the thin rod section, and the overall length of the special drill rod system is at its shortest. In the second working state, the second locking thread engages with the fourth locking thread, the first special drill rod and the second special drill rod are connected in a straight line, and the overall length of the special drill rod system is the longest.

5. The tunnel construction drilling and anchoring device according to claim 4, characterized in that: During the transition from the first working state to the second working state, the first special drill rod is fixed by the end clamp, and the second special drill rod moves along its axial direction toward the thicker rod portion, with the moving distance equal to the difference between L1 and L2.

6. The tunnel construction drilling and anchoring device according to claim 1, characterized in that: The boom system includes a boom mounting base, a boom, a telescopic boom, a right triangular hydraulic cylinder, and a left triangular hydraulic cylinder. The boom mounting base is fixed to the front end of the tunnel drilling rig. One end of the boom is hinged to the boom mounting base. The cylinder bodies of the right and left triangular hydraulic cylinders are symmetrically hinged to the boom mounting bases on the right and left sides of the boom, respectively, and their piston rod ends are respectively hinged to the boom, jointly controlling the pitch and swing of the boom. The telescopic boom is slidably nested inside the boom and connected to the power output end of the telescopic hydraulic cylinder fixed to the boom. The power output end of the telescopic boom is provided with an end swing mechanism. The power output end of the end swing mechanism is connected to the propulsion system for driving the propulsion system to swing at multiple angles.

7. The tunnel construction drilling and anchoring device according to claim 6, characterized in that: The end swing mechanism includes an axial swing oil cylinder and a radial swing oil cylinder. The cylinder body end of the axial swing oil cylinder is connected to the power output end of the telescopic arm, and the piston rod end is connected to the cylinder body end of the radial swing oil cylinder. The piston rod end of the radial swing oil cylinder is connected to the propulsion system. The axial swing oil cylinder is used to control the propulsion system to rotate around its own axis, and the radial swing oil cylinder is used to control the propulsion system to swing in a plane perpendicular to its own axis direction.

8. The tunnel construction drilling and anchoring device according to claim 1, characterized in that: A wire rope sensor is installed on the middle drill pipe holder to detect the displacement of the middle drill pipe holder in real time; a pressure sensor is arranged in the hydraulic circuit of the hydraulic rock drill to monitor its rotation pressure in real time; The electronic control system is electrically connected to the wire rope sensor and the pressure sensor respectively.

9. A construction method for a tunnel construction drilling and anchoring device, used in the tunnel construction drilling and anchoring device of claim 5, characterized in that... It includes the following steps: S1. Working condition perception and mode prediction: The electronic control system receives the input design parameters, which at least include the target hole position coordinates, the designed hole depth, and the hole type identifier, and the hole type identifier is used to distinguish the tunneling blast hole and the anchor bolt hole; According to the hole type identifier and the designed hole depth, the electronic control system predicts the required working state of the drill pipe for the target hole: If the designed hole depth is less than or equal to the first threshold depth, it is predicted to use the first working state; if the designed hole depth is greater than the first threshold depth, it is predicted to use the second working state and plan the extension point, and generate an extension trigger depth D′, and the extension trigger depth D′ is less than or equal to the maximum effective stroke of the special drill pipe system in the first working state and less than the maximum effective stroke minus the preset safety margin; S2. Hole searching: The electronic control system performs calculations based on the target hole position coordinates and controls the boom system to position the end of the propulsion system to the target point; S3. Adaptive drilling and state monitoring: The electronic control system starts the hydraulic rock drill, uses the pressure sensor installed on the hydraulic rock drill to monitor the real-time rotation pressure P in real time, and compares the real-time rotation pressure P with the first set pressure threshold P1 and the second set pressure threshold P2, where the first set pressure threshold P1 is less than the second set pressure threshold P2; When P < P1, it is determined that the drilling resistance is small, and the electronic control system controls the hydraulic rock drill to enter the high-impact - high-speed mode; when P1 ≤ P < P2, it is determined that the drilling is normal, and the electronic control system controls the hydraulic rock drill to enter the standard impact mode; when P ≥ P2, it is determined that the drilling resistance increases abnormally, and the electronic control system immediately controls the hydraulic rock drill to switch to the low-impact - high-torque mode and reduces the propulsion speed; A drilling depth sensor is arranged on the propulsion beam, and the drilling depth sensor monitors the real-time drilling depth D in real time; S4. Condition-triggered automatic extension: When the electronic control system determines that the following two conditions are met simultaneously, the extension program is automatically triggered: Condition A: The real-time drilling depth D reaches the preset extension trigger depth D′, where the extension trigger depth D′ ≤ the maximum effective stroke of the special drill pipe system in the first working state; Condition B: The first set pressure threshold P1 ≤ the real-time rotational pressure P < the second set pressure threshold P2; The extension procedure includes the following steps: a) The electronic control system controls the propulsion cylinder to stop propulsion and maintain pressure; b) Control the end clamp to clamp the first specially designed drill rod; c) Control the hydraulic rock drill to reverse, and simultaneously control the propulsion cylinder to retract at a preset speed; d) Under the combined action of reversal and retraction, the specially designed drill pipe system automatically switches from the first working state to the second working state; e) Release the end clamp after the extension is confirmed by the pull-wire sensor installed on the middle rod holder; S5. Adaptive drilling and hole termination judgment after extension: After the extension procedure is completed, the hydraulic rock drill resumes forward rotation and impact, and re-enters step S3 to continue drilling according to the current real-time rotation pressure P. When the real-time drilling depth D ≥ the designed hole depth, the hole termination is determined, all drilling actions are stopped, and the special drill rod system is retracted.

10. The construction method of the tunnel drilling and anchoring device according to claim 9, characterized in that: The central support rod is slidably mounted on the propulsion beam via a slider. The slider is equipped with a pulley. One end of the first wire rope is connected to the hydraulic rock drill, and the other end passes around the pulley and is fixed to the propulsion beam. The first wire rope and the pulley constitute a movable pulley mechanism. A first displacement sensor is installed on the propulsion beam, and the first displacement sensor measures the displacement x of the middle support along the propulsion beam in real time. s The hydraulic rock drill is equipped with a second displacement sensor, which measures the displacement of the hydraulic rock drill along the propulsion beam in real time as x. h Under the displacement multiplication relationship corresponding to the movable pulley mechanism, the theoretical displacement of the hydraulic rock drill is set as x. h =2x s The electronic control system is based on real-time measured x h With x s Calculate the synchronization error e and the rate of change of the synchronization error E: e=x h -2xs; E=de / dt; Where t is time, in seconds; The electronic control system corrects the reference advance speed v2 of the central support rod to obtain the target speed v1 of the central support rod: Where v2 is the reference advance speed of the central support rod, and K p and K d This is the gain for compensating for synchronization errors.

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