Single-propulsion beam drilling, grouting and anchoring integrated construction equipment and construction method

Abstract

The invention discloses drilling, grouting and anchoring integrated construction equipment with a single propelling beam and a construction method. The equipment comprises the propelling beam, a rock drill and a sliding rail are arranged on the propelling beam, and the rock drill is arranged in the sliding rail and slides along the sliding rail; a threaded sleeve is arranged at the output end of the rock drill and is of an automatic rotating structure, the rear end of the threaded sleeve is fixed to the output end of the rock drill and rotates along with the output end of the rock drill, a threaded hole is formed in the front end of the threaded sleeve, a drill rod or a grouting pipe or an anchor rod is arranged in the threaded hole, and the end of the drill rod, the end of the grouting pipe and the end of the anchor rod are provided with external threads and detachably connected with the threaded sleeve through the external threads. A rod piece library is arranged on one side of the propelling beam, a plurality of rod piece stations are arranged in the rod piece library, drill rods, grouting pipes or anchor rods are stored in the rod piece library at intervals, and the rod piece stations are arranged along the circumference and rotate along the circle center of the rod piece library; and mechanical claws are arranged at the two ends of the propelling beam and used for clamping a drill rod, a grouting pipe or an anchor rod, and the position of the drill rod, the grouting pipe or the anchor rod is switched between the rod piece library and the propelling beam. The whole process of drilling, grouting and anchor inserting can be completed through one-time positioning of the cantilever crane.

Description

Technical Field

[0001] This invention belongs to the field of rock drilling and grouting technology, and more specifically, relates to a single-propulsion beam integrated drilling, grouting and anchoring construction equipment and construction method. Background Technology

[0002] In rock support operations for mining, tunneling, and underground engineering, drilling, grouting, and anchoring (referred to as drilling-grouting-anchoring construction) are crucial processes for ensuring construction safety and project quality, and their applications are extremely widespread. Traditional construction methods typically employ a step-by-step approach, using independent equipment such as rock drills, grouting pumps, and anchor insertion machines to complete each process sequentially. This method not only involves the transportation, installation, and dismantling of multiple pieces of equipment, which is time-consuming and labor-intensive, severely restricting construction efficiency; more importantly, during equipment transitions between different processes, the same drilling hole position needs to be repeatedly repositioned, easily leading to alignment errors and affecting the accuracy of the anchoring operation and the quality of the support.

[0003] To address the inefficiencies and positioning errors inherent in traditional step-by-step operations, existing technologies are increasingly moving towards integrated construction equipment. A common industry solution involves directly integrating core actuators such as rock drills, grouting equipment, and anchor bolting machines into a single design, uniformly mounted at the end of a robotic arm. This integrated system, through the movement and posture adjustment of the robotic arm, enables continuous drilling, grouting, and anchoring operations at a single workstation, reducing equipment handling frequency and improving construction continuity and automation.

[0004] However, in practical engineering applications, especially when drilling, grouting, and anchoring in narrow tunnels or confined spaces, the aforementioned existing technologies have revealed significant limitations. Due to the narrow working space, large, high-powered drive equipment cannot be brought into the site, and only lightweight or miniaturized construction equipment can be used. This directly leads to strict limitations on the structural size and load-bearing capacity of the robotic arm. The existing design that integrates the rock drilling, grouting, and anchoring mechanisms all at the end of the robotic arm generates a large end-effector weight and torque, exceeding the rated load-bearing range of a small robotic arm. This makes it impossible to achieve integrated drilling, grouting, and anchoring construction through simple end-effector integration in confined spaces. Summary of the Invention

[0005] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides a single-push-beam integrated drilling, grouting, and anchoring construction equipment and method. Employing a single-push-beam structure, it integrates drilling, grouting, and anchoring functions onto a single push-beam. The overall structure is compact and lightweight, allowing it to be supported by small to medium-sized booms, making it suitable for construction in confined areas such as mines and tunnels. Furthermore, the entire process of drilling, grouting, and anchoring can be completed with a single boom positioning, avoiding repeated positioning during equipment changes.

[0006] To achieve the above objectives, according to a first aspect of the present invention, a single-propulsion beam drilling-injection-anchoring integrated construction device is provided, comprising a propulsion beam, a rock drill and a slide rail mounted on the propulsion beam, wherein the rock drill is disposed in the slide rail and slides along the slide rail; The output end of the rock drill is provided with a threaded sleeve. The threaded sleeve is an automatic rotating structure. Its rear end is fixed to the output end of the rock drill and rotates with it. The front end is provided with a threaded hole. A drill rod, a grouting pipe or an anchor rod is installed in the threaded hole. The ends of the drill rod, the grouting pipe and the anchor rod are all provided with external threads, which can be detachably connected to the threaded sleeve through the external threads. The propulsion beam has a rod storage room on one side, which has multiple rod stations, where drill rods, grouting pipes or anchor rods are stored at intervals. The multiple rod stations are arranged around the circumference and rotate around the center of the circle. Both ends of the propulsion beam are equipped with mechanical claws, which are used to grip drill rods, grouting pipes or anchor rods and switch their positions between the rod storage and the propulsion beam.

[0007] Furthermore, the output end of the rock drill is provided with a grout inlet, which is connected to a threaded sleeve. The grouting pipe is a hollow pipe. When the grouting pipe is connected to the threaded sleeve, the grout inlet is connected to the grouting pipe. The grout inlet is connected to an external grout delivery pipe, and the grout is input into the grouting pipe from the grout inlet and then flows out from the other end of the grouting pipe.

[0008] Furthermore, the slide rail is located on the top surface of the push beam, and parallel chains are provided on both sides of it. Sprockets are provided inside both ends of the push beam. The sprockets are driven to rotate by a motor, and the chains are sleeved on the sprockets to make them rotate in the slide rail. The rock drill works in conjunction with a chain, which rotates to move it back and forth on a slide rail.

[0009] Furthermore, the rod storage unit includes a central shaft and rotating frames located at both ends of the central shaft. The two ends of the central shaft are connected to the rotating frames via bearings. Limiting plates are fixed at intervals on the central shaft, and multiple limiting holes are evenly formed around the periphery of each limiting plate to create a quincunx pattern. The limiting holes at the same position on multiple limiting plates constitute a rod station.

[0010] Furthermore, one end of the rod storage is provided with a rod storage power device, which includes a rod storage cylinder, a rod storage pawl, and a rod storage ratchet.

[0011] Furthermore, a fixed frame is provided on the rotating frame at one end of the rod storage, and the rod storage cylinder is mounted on the fixed frame. Its fixed end is rotatably connected to the fixed frame through a rotating shaft, and a rotating plate is connected to its output end. One end of the rotating plate is rotatably connected to the output end of the rod storage cylinder through a pin, and the other end is fixedly connected to the central axis of the rod storage. The pawl of the rod storage is rotatably mounted on the rotating plate, with a spring between them. The ratchet of the rod storage is fixed on the fixed frame, and the ratchet of the rod storage is coaxial with the central axis of the rod storage. A spring is provided between the pawl of the rod storage and the rotating plate so that the pawl of the rod storage is always engaged with the ratchet of the rod storage.

[0012] Furthermore, the propulsion beam is also provided with a fixing groove, which is located at one end near the rock drill and is used to temporarily clamp and fix the drill rod, grouting pipe or anchor rod, and then lock it to the output end of the rock drill by rotating the threaded sleeve.

[0013] According to a second aspect of the present invention, a method for integrated drilling, grouting, and anchoring construction of a single-propulsion beam is provided. When the anchor bolt is a solid anchor bolt, the method includes the following steps: S100: Drive the traveling unit into the work area, adjust the attitude of the propulsion beam with the boom on the frame to align with the construction position, rotate and position the rod magazine, and use the mechanical claw to clamp the drill rod into the fixed slot. The threaded sleeve at the output end of the rock drill automatically rotates and locks the drill rod, completing the drilling preparation. S200: Start the rock drill and use the chain propulsion device to drive the drill rod to move along the slide rail to drill. After drilling is completed, the rock drill returns to the fixed slot, the threaded sleeve reverses to automatically unload the drill rod, and the mechanical claw grabs it back to the rod magazine, completing the drilling and rod unloading process. S300, the rod and component library rotates and switches positions. The mechanical claw and threaded sleeve are used to install the grouting pipe onto the rock drill. The push beam pushes the grouting pipe to the bottom of the hole. Grout is pumped into the pipe through the grout inlet. Grouting and pipe retraction are carried out simultaneously until grouting is completed and the grouting pipe is unloaded. After the S400 grouting pipe is returned to the warehouse, the rod warehouse rotates to provide the anchor rod. The mechanical claw and the threaded sleeve cooperate to complete the gripping and fixing. The thrust of the push beam is used to forcefully push the anchor rod into the grout-filled channel, completing the installation and implantation of the anchor rod. After the S500 anchor bolt is installed in place, the threaded sleeve will automatically rotate to disengage, and the rock drill will return to its initial position along the slide rail. At this time, a new anchor bolt will be manually added to the empty space in the bolt magazine, and a simple inspection of the equipment will be carried out to ensure the continuity of subsequent cycle operations. S600: Adjust the boom and propulsion beam to align with the next hole position, and repeat the above drilling, grouting, and anchoring steps until all support tasks in the area are completed. After the operation is completed, retract the boom and propulsion beam, and drive the traveling unit away from the construction site to complete the construction.

[0014] Furthermore, in step S300, during the grouting process, due to the uneven distribution of cracks in the soil and rock mass and the time-varying nature of the grout rheological properties, traditional PID control is difficult to solve the nonlinear and large-lag pressure change problem. Therefore, a BP neural network adaptive PID algorithm is used, utilizing the self-learning capability of the neural network to adjust the three parameters of the PID controller in real time to maintain the dynamic balance between grouting pressure and pipe retraction speed, ensuring grout fullness and preventing voids caused by excessively fast pipe retraction or pipe bursting due to excessively slow pipe retraction. During the process of the propulsion beam driving the grouting pipe backward, the grouting pressure is maintained. Constant at the set value nearby.

[0015] Furthermore, when the anchor bolt is a hollow anchor bolt, the following steps are included: T100: Drive the traveling unit into the work area, adjust the attitude of the propulsion beam with the boom on the frame to align with the construction position, rotate and position the rod magazine, and use the mechanical claw to clamp the drill rod into the fixed slot. The threaded sleeve at the output end of the rock drill automatically rotates and locks the drill rod, completing the drilling preparation. T200: Start the rock drill and use the chain propulsion device to drive the drill rod to move along the slide rail to drill. After drilling is completed, the rock drill returns to the fixed groove, the threaded sleeve reverses to automatically unload the drill rod, and the mechanical claw grabs it back to the rod magazine, completing the drilling and rod unloading process. T300, the rod storage rotating switching station, the mechanical claw and threaded sleeve to install the anchor rod onto the rock drill, the push beam to slowly push the anchor rod into the hole, and during the push process, grout is pumped into the anchor rod through the grout inlet; T400, until the anchor bolt is pushed to the bottom of the hole, stop grouting, and the installation and implantation of the anchor bolt is completed; After the T500 anchor bolt is installed in place, the threaded sleeve will automatically rotate to disengage, and the rock drill will return to its initial position along the slide rail. At this time, a new anchor bolt will be manually added to the empty space in the bolt magazine, and a simple inspection of the equipment will be carried out to ensure the continuity of subsequent cycle operations. T600, control the boom to adjust the propulsion beam to align with the next hole, repeat the above drilling, grouting, and anchoring steps until all support tasks in the area are completed. After the operation is completed, retract the boom and propulsion beam, drive the traveling unit away from the construction site, and the construction is completed.

[0016] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects: 1. The drilling, grouting, and anchoring integrated construction equipment of the present invention adopts a single propulsion beam structure, integrating drilling, grouting, and anchoring functions into the same propulsion beam. The overall structure is compact and lightweight, and can be supported by small to medium-sized booms, making it suitable for construction in confined areas such as mines and tunnels. Furthermore, the entire process of drilling, grouting, and anchoring can be completed with a single boom positioning, avoiding repeated positioning during equipment changes.

[0017] 2. The drilling, grouting and anchoring integrated construction equipment of the present invention adopts a single propulsion beam structure, reuses the same propulsion device and rock drill, and only needs to be configured with a follow-up rod library on the side of the beam, which reduces the load weight and structural size of the end of the robotic arm, thereby enabling it to smoothly enter narrow or restricted areas such as mines and tunnels for mechanized operations.

[0018] 3. The drilling-grouting-anchoring integrated construction equipment of the present invention, through the automatic rotation structure of the threaded sleeve and the cooperation of the rod library, realizes the automatic switching of drill rod, grouting pipe and anchor rod. In the entire drilling-grouting-anchoring operation cycle, the robotic arm and the propulsion beam only need to be positioned once, and all subsequent processes are completed on the same axis. This eliminates the centering error caused by multiple movement of equipment in traditional step-by-step construction or multi-equipment switching construction, ensures that the anchor hole, grouting pipe and anchor rod are coaxial in height, effectively guarantees the fullness of grouting and the quality of anchor rod implantation, and solves the problem of support failure caused by positioning deviation.

[0019] 4. The drilling, grouting and anchoring integrated construction method of the present invention, combined with an adaptive PID control algorithm based on BP neural network, automatically adjusts the matching relationship between grouting pressure and pipe withdrawal speed according to the formation feedback, realizing precise control of grouting and pipe withdrawal simultaneously, improving the construction efficiency of single-hole operation, and reducing the labor intensity and safety risks of on-site workers. Attached Figure Description

[0020] Figure 1 This is a structural schematic diagram of a single-propulsion beam integrated drilling, grouting and anchoring construction equipment according to an embodiment of the present invention; Figure 2 This is a three-dimensional structural view of a single-propulsion beam integrated drilling, grouting, and anchoring construction device according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the threaded sleeve structure of a single-propulsion beam drilling-injection-anchoring integrated construction equipment according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the power unit structure of the rod storage of a single-propulsion beam drilling, grouting and anchoring integrated construction equipment according to an embodiment of the present invention; Figure 5 This is a schematic diagram of a single-propulsion beam drilling, grouting and anchoring integrated construction method according to an embodiment of the present invention; Figure 6 This is a schematic diagram of another integrated drilling, grouting and anchoring construction method for a single propulsion beam according to an embodiment of the present invention.

[0021] In all the accompanying drawings, the same reference numerals denote the same technical features, specifically: 1-traveling unit, 2-cab, 3-frame, 4-boom, 5-boom small-amplitude cylinder, 6-boom large-amplitude cylinder, 7-support frame, 8-propulsion beam, 9-rock drill, 10-grout inlet, 11-threaded sleeve, 12-drill rod, 13-grouting pipe, 14-anchor bolt, 15-rod magazine, 16-mechanical claw, 17-rod magazine power unit, 171-rod magazine cylinder, 172-rod magazine pawl, 173-rod magazine ratchet, 18-slide rail, 19-fixing groove. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0023] Example 1 like Figure 1 , 2 As shown, this embodiment of the invention provides a single-propulsion beam integrated drilling, grouting, and anchoring construction device, including a propulsion beam 8, a rock drill 9 mounted on the propulsion beam 8, and a slide rail 18. The rock drill 9 is located in the slide rail 18 and slides along the slide rail 18. The output end of the rock drill 9 is provided with a threaded sleeve 11, which is an automatically rotating structure. Its rear end is fixed to the output end of the rock drill 9 and rotates with it. The front end is provided with a threaded hole, in which a drill rod 12, a grouting pipe 13, or an anchor rod 14 are installed. The ends of the drill rod 12, the grouting pipe 13, and the anchor rod 14 are all provided with external threads, which are detachably connected to the threaded sleeve 11 through the external threads. A rod storage 15 is provided on one side of the propulsion beam 8, which has multiple rod stations, in which drill rods 12, grouting pipes 13, or anchor rods 14 are stored at intervals. The multiple rod stations are arranged circumferentially and rotate around their center. Both ends of the propulsion beam 8 are equipped with mechanical claws 16, which are used to grip the drill rod 12, grouting pipe 13, or anchor bolt 14, switching their positions between the component storage 15 and the propulsion beam 8. The single propulsion beam structure integrates drilling, grouting, and anchoring functions into a single propulsion beam 8, resulting in a compact and lightweight design that can be supported by a small to medium-sized boom 4, making it suitable for construction in confined areas such as mines and tunnels. Furthermore, the entire process of drilling, grouting, and anchoring can be completed with a single positioning using the boom 4, avoiding repeated positioning during equipment changes.

[0024] The propulsion beam 8 is mounted on an adjustment device, which includes a traveling unit 1. The traveling unit 1 has a cab 2 and a frame 3, providing support for both. A boom 4 is mounted on the frame 3, with its rear end connected to the frame 3 via a pivot shaft and its front end connected to a support frame 7 via a pivot shaft. The boom 4 also has a small boom cylinder 5 and a large boom cylinder 6. One end of the small boom cylinder 5 is rotatably connected to the frame 3, and the other end is rotatably connected to the middle of the boom 4; one end of the large boom cylinder 6 is rotatably connected to the frame 3, and the other end is rotatably connected to the support frame 7.

[0025] like Figure 3 As shown, the output end of the rock drill 9 is provided with a grout inlet 10, which is connected to the threaded sleeve 11. The grouting pipe 13 is a hollow pipe. When the grouting pipe 13 is connected to the threaded sleeve 11, the grout inlet 10 is connected to the grouting pipe 13. The grout inlet 10 is connected to an external grout delivery pipe, and the grout is input from the grout inlet 10 into the grouting pipe 13 and then flows out from the other end of the grouting pipe 13.

[0026] The slide rail 18 is located on the top surface of the push beam 8, and parallel chains are provided on both sides of it. Sprockets are located inside both ends of the push beam 8, and these sprockets are driven to rotate by a motor. The chains are fitted onto the sprockets, causing them to rotate within the slide rail 18. The rock drill 9 cooperates with the chains, and the rotation of the chains drives it to move back and forth on the slide rail 18.

[0027] The rod storage unit 15 includes a central shaft and rotating frames located at both ends of the central shaft. The two ends of the central shaft are connected to the rotating frames via bearings. Limiting plates are fixed at intervals on the central shaft. Multiple limiting holes are evenly distributed around the periphery of the limiting plates to form a quincunx pattern. The limiting holes at the same position on multiple limiting plates constitute a rod station.

[0028] like Figure 4 As shown, a rod storage power unit 17 is provided at one end of the rod storage 15. The rod storage power unit 17 includes a rod storage cylinder 171, a rod storage pawl 172, and a rod storage ratchet 173. A fixed frame is provided on the rotating frame at one end of the rod storage 15. The rod storage cylinder 171 is mounted on the fixed frame, and its fixed end is rotatably connected to the fixed frame via a rotating shaft. The output end is connected to a rotating plate. One end of the rotating plate is rotatably connected to the output end of the rod storage cylinder 171 via a pin, and the other end is fixedly connected to the central axis of the rod storage 15. The rod storage pawl 172 is rotatably mounted on the rotating plate, and a spring is provided between the two. The rod storage ratchet 173 is fixed on the fixed frame, and the rod storage ratchet 173 is coaxially arranged with the central axis of the rod storage 15. A spring is provided between the rod storage pawl 172 and the rotating plate to ensure that the rod storage pawl 172 is always engaged with the rod storage ratchet 173.

[0029] Understandably, the rotating plate is driven to rotate by the hydraulic cylinder 171 of the component storage unit, which in turn drives the component storage unit 15 to rotate. At this time, the hydraulic cylinder 171 itself rotates on the fixed frame under the action of force, and it drives the component storage unit 15 to rotate one component position each time. When the output end of the hydraulic cylinder 171 reaches the extension limit position, the hydraulic cylinder 171 and the rotating plate are on the same straight line. At this time, the hydraulic cylinder 171 is contracted to make the rotating plate continue to rotate until it reaches the contraction limit position, thus completing one rotation of the component storage unit 15.

[0030] The propulsion beam 8 is also provided with a fixing groove 19, which is located at one end near the rock drill 9. It is used to temporarily clamp and fix the drill rod 12, grouting pipe 13 or anchor rod 14, and then lock it to the output end of the rock drill 9 by rotating the threaded sleeve 11.

[0031] Example 2 This invention provides another integrated drilling, grouting, and anchoring construction device for a single-propulsion beam, which differs from Embodiment 1 in that: In Example 1, the rod storage 15 contains drill rods 12, grouting pipes 13, and anchor rods 14, wherein the anchor rods 14 are solid anchor rods. In this example, the anchor rods 14 are hollow anchor rods, and the grouting pipes 13 are not required; that is, the rod storage 15 contains drill rods 12 and anchor rods 14 at intervals.

[0032] Example 3 like Figure 5 As shown, this embodiment of the invention provides a single-propulsion beam drilling-grouting integrated construction method, including the following steps: S100. Drive the walking unit 1 into the work area, adjust the posture of the propulsion beam 8 to the construction position through the boom 4 on the frame 3, rotate and position the rod storage 15, and the mechanical claw 16 clamps the drill rod 12 into the fixed groove 19. The threaded sleeve 11 at the output end of the rock drill 9 automatically rotates and locks the drill rod 12, completing the drilling preparation. S200, start the rock drill 9 and cooperate with the chain propulsion device to drive the drill rod 12 to move along the slide rail 18 to carry out drilling. After drilling is completed, the rock drill 9 returns to the fixed groove 19, the threaded sleeve 11 reverses to automatically unload the drill rod 12, and the mechanical claw 16 grabs it back to the rod storage 15 to complete the drilling and rod unloading process. S300 and rod storage 15 rotate to switch positions. The mechanical claw 16, in conjunction with the threaded sleeve 11, installs the grouting pipe 13 onto the rock drill 9. The push beam 8 pushes the grouting pipe 13 to the bottom of the hole and pumps grout into the pipe through the grout inlet 10. The grouting and pipe retraction operations are carried out simultaneously until the grouting is completed and the grouting pipe 13 is unloaded. After S400 and grouting pipe 13 are returned to the warehouse, rod warehouse 15 rotates to provide anchor rod 14. Mechanical claw 16 and threaded sleeve 11 cooperate to complete the gripping and fixing. The thrust of push beam 8 is used to forcefully push anchor rod 14 into the grout-filled channel, completing the installation and implantation of anchor rod 14. After the S500 and anchor bolt 14 are installed in place, the threaded sleeve 11 will automatically rotate to disengage, and the rock drill 9 will return to its initial position along the slide rail 18. At this time, a new anchor bolt 14 will be manually added to the empty space in the rod magazine 15, and a simple inspection of the equipment will be carried out to ensure the continuity of subsequent cycle operations. S600, control boom 4, adjust propulsion beam 8 to align with the next hole, repeat the above drilling, grouting, and anchoring steps until all support tasks in the area are completed. After the operation is completed, retract boom 4 and propulsion beam 8, drive travel unit 1 away from the construction site, and complete the construction.

[0033] In step S100, by controlling the extension and retraction of the boom small-amplitude cylinder 5 and the boom large-amplitude cylinder 6, the posture of the boom 4 is adjusted, driving the front support frame 7 and the propulsion beam 8 to change amplitude and adjust, so that the axis of the propulsion beam 8 is precisely aligned with the coordinates of the hole to be drilled. Then, the drill bit is loaded: the rod magazine cylinder 171 extends and retracts, driving the rod magazine pawl 172 to engage with the rod magazine ratchet 173, causing the rod magazine 15 to rotate precisely, rotating the drill rod 12 to the gripping position. The mechanical claws 16 at both ends of the propulsion beam 8 actuate, removing the drill rod 12 from the rod magazine 15 and moving it horizontally into the fixing slot 19 for temporary clamping and positioning. At this time, the rock drill 9 moves forward along the slide rail 18, and its output end threaded sleeve 11 rotates and advances, engaging and locking with the threaded end of the drill rod 12 in the fixing slot 19, completing the drill rod installation.

[0034] Step S200 is as follows: The rock drill 9 activates its impact and rotation functions, and simultaneously, the motor drive chain inside the propulsion beam 8 rotates, driving the rock drill 9 forward along the slide rail 18. The drill rod 12, under the action of thrust and rotational force, drills into the rock mass until the designed depth is reached. After drilling is completed, the rock drill 9 stops impacting but continues to rotate (or reverses), and under the traction of the chain, retracts along the slide rail 18, completely pulling the drill rod 12 out of the rock hole and returning it to the fixed slot 19 position. The fixed slot 19 clamps the drill rod 12 to restrict its rotation, and the threaded sleeve 11 rotates in the opposite direction to separate the threads from the drill rod 12. Subsequently, the mechanical claw 16 moves again, grabbing the drill rod 12 and sending it back to its original position in the rod storage 15 for clamping, completing the rod unloading process.

[0035] Step S300 specifically involves: the rod storage power unit 17 activating again, driving the rod storage 15 to rotate and switch positions, aligning the grouting pipe 13 with the gripping position. The mechanical claw 16 grips the grouting pipe 13 and moves it to the fixing slot 19, while the rock drill 9 moves forward and locks the grouting pipe 13 through the threaded sleeve 11. At this time, one end of the grouting pipe 13 is automatically connected to the grout inlet 10 at the output end of the rock drill 9. The rock drill 9 advances along the slide rail 18, sending the grouting pipe 13 into the bottom of the drilled hole. The external grouting pump starts, and the grout is transported through the pipeline to the grout inlet 10, and injected into the bottom of the hole through the hollow grouting pipe 13. During the grouting process, the rock drill 9 slowly retracts the grouting pipe 13 to ensure that the grout fills the entire drilling space. After grouting is completed and the pipe is completely withdrawn, following the logic of step S200, the grouting pipe 13 is unloaded and returned to the rod storage 15 using the fixing slot 19 and the mechanical claw 16.

[0036] In step S300, during the grouting process, due to the uneven distribution of cracks in the soil and rock mass and the time-varying nature of the grout rheological properties, traditional PID control is difficult to solve the nonlinear and large-lag pressure change problem. Therefore, a BP neural network adaptive PID algorithm is used. Utilizing the self-learning capability of the neural network, the three parameters of the PID controller are adjusted in real time to maintain a dynamic balance between grouting pressure and pipe retraction speed, ensuring grout fullness and preventing voids caused by excessively fast pipe retraction or pipe bursting due to excessively slow retraction. During the process of the propulsion beam driving the grouting pipe backward, the grouting pressure is maintained. Constant at the set value nearby.

[0037] The PID algorithm is an incremental PID control algorithm, the first... Control output increment at any time for: , in: For the first Pressure error at any time This represents the current pressure inside the grouting pipe. The first The proportional, integral, and differential coefficients at each time step are output in real time by the BP neural network.

[0038] The BP neural network structure is as follows: Input layer: It has 3 neurons, and the input variable is the system's operating state. , Hidden layer: It has M neurons, and the activation function is the positive-negative symmetric sigmoid function. , Output layer: It has 3 neurons, each corresponding to one of the three parameters of the PID controller. Since the PID parameters must be positive, the non-negative sigmoid function is used as the activation function for the output layer. , In the hidden layer, the input of the h-th neuron and output for: , , in These are the weighting coefficients from the input layer to the hidden layer; In the output layer, the first Input of each neuron The output is: , , in These are the weighting coefficients from the hidden layer to the output layer.

[0039] Then define the performance index function. For squared error: , Using the gradient descent method, the weighting coefficients are corrected along the negative gradient direction to minimize the weighting coefficients. And introduce learning rate and inertia factor The weighting coefficients from the hidden layer to the output layer are corrected: , Expand the partial derivatives: , in The controlled object's Jacobian information can be used as an approximation or obtained through identification. The above algorithm is then used to correct the weighting coefficients from the input layer to the hidden layer, and the error is backpropagated to the input layer weights.

[0040] In step S400, the specific operation is as follows: After the grouting pipe is returned to its position, the rod holder 15 continues to rotate to the anchor rod 14 position. The mechanical claw 16 removes the anchor rod 14 from the holder and places it in the fixing groove 19, and the threaded sleeve 11 rotates to lock the tail thread of the anchor rod 14. Driven by the large thrust of the chain, the rock drill 9 moves forward rapidly along the slide rail 18, forcefully pushing the anchor rod 14 into the borehole filled with grout. During this process, the anchor rod 14 displaces some of the grout and tightly bonds with the borehole wall. The grout further penetrates through the gaps around the anchor rod, ensuring the anchoring effect.

[0041] In step S500, when the threaded sleeve 11 is reversed for disengagement, it must be ensured that the static friction between the anchor rod 14 and the hole wall and grout is greater than the rotational friction torque at the threaded connection. Before loading the anchor rod 14, an appropriate amount of grease should be applied to its tail thread to reduce the tripping torque and prevent the anchor rod from failing to disengage or anchoring due to rotation with the threaded sleeve. When the rod magazine 15 is detected to be in replenishment mode, the rod magazine cylinder 171 must be forcibly locked, prohibiting any rotational movement; simultaneously, the rock drill 9 should be in a power-off or hydraulic unloading state to prevent accidental operation that could result in injury from the mechanical claws or personnel being crushed by the equipment. During replenishment, it must be confirmed that the anchor rod is fully pushed into the bottom of the limiting hole to prevent the anchor rod head from being exposed and interfering with or colliding with the propulsion beam 8 or other structural components during rotation.

[0042] Example 4 like Figure 6 As shown, this embodiment of the invention provides a single-propulsion beam drilling-injection-anchoring integrated construction method, using the solid anchor bolts described in Embodiment 2 for construction, including the following steps: T100: Drive the walking unit 1 into the work area, adjust the posture of the propulsion beam 8 to the construction position through the boom 4 on the frame 3, rotate and position the rod magazine 15, and the mechanical claw 16 clamps the drill rod 12 into the fixed groove 19. The threaded sleeve 11 at the output end of the rock drill 9 automatically rotates and locks the drill rod 12, completing the drilling preparation. T200, start the rock drill 9 and cooperate with the chain propulsion device to drive the drill rod 12 to move along the slide rail 18 to carry out drilling. After drilling is completed, the rock drill 9 returns to the fixed groove 19, the threaded sleeve 11 reverses to automatically unload the drill rod 12, and the mechanical claw 16 grabs it back to the rod storage 15 to complete the drilling and rod unloading process. T300 and rod storage 15 rotate to switch positions. Mechanical claw 16, in conjunction with threaded sleeve 11, installs anchor rod 14 onto rock drill 9. Propulsion beam 8 slowly pushes anchor rod 14 into the hole. During the pushing process, grout is pumped into anchor rod 14 through grout inlet 10. T400, until the anchor bolt 14 is pushed to the bottom of the hole, stop grouting, and the installation and implantation of the anchor bolt 14 is completed; After T500 and anchor bolt 14 are installed in place, threaded sleeve 11 automatically rotates to disengage, and rock drill 9 returns to its initial position along slide rail 18. At this time, a new anchor bolt 14 is manually added to the empty space in the rod magazine 15, and the equipment is briefly inspected to ensure continuous operation in subsequent cycles. T600, control boom 4, adjust propulsion beam 8 to align with the next hole position, repeat the above drilling, grouting, and anchoring steps until all support tasks in the area are completed. After the operation is completed, retract boom 4 and propulsion beam 8, drive travel unit 1 away from the construction site, and complete the construction.

[0043] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A single-propulsion-beam drilling and anchoring integrated construction equipment, characterized in that, The invention relates to a drilling machine, which comprises a propulsion beam (8), a rock drill (9) and a slide rail (18) arranged on the propulsion beam (8), wherein the rock drill (9) is arranged in the slide rail (18) and slides along the slide rail (18). The output end of the rock drill (9) is provided with a threaded sleeve (11), which is an automatic rotating structure, the rear end of the threaded sleeve (11) is fixed on the output end of the rock drill (9) and rotates with the output end of the rock drill (9), the front end of the threaded sleeve (11) is provided with a threaded hole, a drill rod (12), a grouting pipe (13) or an anchor rod (14) is arranged in the threaded hole, the end of the drill rod (12), the grouting pipe (13) and the anchor rod (14) is provided with an external thread, and the drill rod (12), the grouting pipe (13) and the anchor rod (14) are detachably connected with the threaded sleeve (11) through the external thread. One side of the propulsion beam (8) is provided with a rod stock store (15), a plurality of rod stock stations are arranged in the rod stock store (15), and the drill rod (12), the grouting pipe (13) or the anchor rod (14) is stored in the rod stock stations. Both ends of the propulsion beam (8) are provided with mechanical claws (16), the mechanical claws (16) are used for clamping the drill rod (12), the grouting pipe (13) or the anchor rod (14), and the positions of the drill rod (12), the grouting pipe (13) or the anchor rod (14) are switched between the rod stock store (15) and the propulsion beam (8).

2. The single-propulsion beam drilling and anchoring integrated construction equipment according to claim 1, characterized in that, The output end of the rock drill (9) is provided with a grout inlet (10) connected with the threaded sleeve (11), the grouting pipe (13) is a hollow pipe, when the grouting pipe (13) is connected with the threaded sleeve (11), the grout inlet (10) is in communication with the grouting pipe (13), the grout inlet (10) is connected with an external grout conveying pipe, grout is input into the grouting pipe (13) from the grout inlet (10), and then flows out from the other end of the grouting pipe (13).

3. The single-propulsion beam drilling and anchoring integrated construction equipment according to claim 1, characterized in that, The slide rail (18) is arranged on the top surface of the propulsion beam (8), both sides of the slide rail (18) are provided with parallel chains, both ends of the propulsion beam (8) are internally provided with sprockets, the sprockets are driven to rotate by motors, and the chains are sleeved on the sprockets, so that the chains rotate in the slide rail (18). The rock drill (9) is matched with the chains, and the rock drill (9) moves back and forth on the slide rail (18) through the rotation of the chains.

4. The single-propulsion beam drilling and anchoring integrated construction equipment according to claim 1, characterized in that, The rod stock store (15) comprises a central shaft and rotating frames arranged at both ends of the central shaft, both ends of the central shaft are connected to the rotating frames through bearings, a plurality of limiting plates are fixed on the central shaft at intervals, a plurality of limiting holes are uniformly arranged on the periphery of each limiting plate, and the limiting plates form a plum blossom shape. A plurality of limiting holes at the same position of the limiting plates form a rod stock station.

5. The single-propulsion beam drilling and anchoring integrated construction apparatus according to claim 4, characterized in that, One end of the rod stock store (15) is provided with a rod stock store power device (17), the rod stock store power device (17) comprises a rod stock store oil cylinder (171), a rod stock store ratchet pawl (172) and a rod stock store ratchet wheel (173).

6. The single-propelling-beam drilling and anchoring integrated construction equipment according to claim 5, characterized in that, A fixed frame is arranged on the rotating frame at one end of the rod stock store (15), the rod stock store oil cylinder (171) is arranged on the fixed frame, the fixed end of the rod stock store oil cylinder (171) is rotatably connected to the fixed frame through a rotating shaft, the output end of the rod stock store oil cylinder (171) is connected with a rotating plate, one end of the rotating plate is rotatably connected with the output end of the rod stock store oil cylinder (171) through a pin shaft, and the other end of the rotating plate is fixedly connected with the central shaft of the rod stock store (15). The rod stock ratchet (172) is rotationally arranged on the rotating plate, and a spring is arranged between the two. The rod stock ratchet wheel (173) is fixed on the fixed frame, and the rod stock ratchet wheel (173) is coaxially arranged with the central shaft of the rod stock (15). A spring is arranged between the rod stock ratchet (172) and the rotating plate, so that the rod stock ratchet (172) is always engaged with the rod stock ratchet wheel (173).

7. The single-propelling-beam drilling and anchoring integrated construction equipment according to any one of claims 1-6, characterized in that, The advancing beam (8) is also provided with a fixed groove (19), which is arranged at one end close to the rock drill (9) and is used for temporarily clamping and fixing the drill rod (12), the grouting pipe (13) or the anchor rod (14), and then the threaded sleeve (11) is rotated and locked to the output end of the rock drill (9).

8. A method for drilling, grouting and anchoring integrated construction of a single propulsion beam, which is implemented by using the drilling, grouting and anchoring integrated construction equipment of any one of claims 1-7, characterized in that, When the anchor rod (14) is a solid anchor rod, the following steps are included: S100, drive the walking unit (1) into the operation area, adjust the posture of the advancing beam (8) through the arm support (4) on the vehicle frame (3) to align with the construction position, rotate and position the rod stock (15), and the mechanical claw (16) clamps and feeds the drill rod (12) to the fixed groove (19), and the threaded sleeve (11) at the output end of the rock drill (9) is automatically rotated and locked to the drill rod (12), completing the drilling preparation; S200, start the rock drill (9) to cooperate with the chain advancing device to drive the drill rod (12) to move along the sliding rail (18) to implement drilling, and after drilling is completed, the rock drill (9) is returned to the fixed groove (19), the threaded sleeve (11) is reversed to automatically remove the drill rod (12), and the mechanical claw (16) grabs it back to the rod stock (15), completing the drilling and rod removal process; S300, rotate the rod stock (15) to switch the working position, the mechanical claw (16) cooperates with the threaded sleeve (11) to load the grouting pipe (13) to the rock drill (9), the advancing beam (8) pushes the grouting pipe (13) to the hole bottom, pumps the grout into the pipe through the grout inlet (10), and implements the operation of grouting while retreating the pipe until the grouting is completed and the grouting pipe (13) is removed; S400, after the grouting pipe (13) is returned to the warehouse, the rod stock (15) rotates to provide the anchor rod (14), the mechanical claw (16) cooperates with the threaded sleeve (11) to complete the grabbing and fixing, and the advancing beam (8) is used to force the anchor rod (14) into the grout-filled hole, completing the installation and implantation of the anchor rod (14); S500, after the anchor rod (14) is installed in place, the threaded sleeve (11) is automatically rotated to be separated, the rock drill (9) is returned to the initial position along the sliding rail (18), at this time, new anchor rods (14) are supplemented in the empty space of the rod stock (15) by manual operation, and the equipment is simply checked to ensure the continuous follow-up circulation operation; S600, adjust the advancing beam (8) to align with the next hole position by controlling the arm support (4), and repeat the above drilling, grouting and anchor inserting steps until all the supporting tasks in the area are completed, and the arm support (4) and the advancing beam (8) are folded after the operation is completed, the walking unit (1) is driven away from the construction site, and the construction is completed.

9. The method according to claim 8, wherein, In step S300, due to the unevenness of the rock mass fracture distribution and the time-varying rheological properties of the slurry, the traditional PID control is difficult to solve the problem of nonlinear, large lag and pressure mutation, therefore, the BP neural network adaptive PID algorithm is used, the self-learning ability of the neural network is used to adjust the three parameters of the PID controller in real time, so as to maintain the dynamic balance of the grouting pressure and the pipe withdrawal speed, ensure the slurry fullness, prevent the empty cavity caused by the pipe withdrawal too fast or the pipe explosion caused by the pressure accumulation due to the pipe withdrawal too slow, and keep the grouting pressure Constant at the set value Nearby.

10. The method according to claim 8, wherein, When the anchor rod (14) is a hollow anchor rod, the following steps are included: T100, drive the walking unit (1) into the working area, adjust the posture of the push beam (8) through the arm support (4) on the frame (3) to align with the construction position, rotate and position the rod storage (15), and clamp and feed the drill rod (12) to the fixed groove (19) by the mechanical claw (16). The threaded sleeve (11) at the output end of the rock drill (9) automatically rotates to lock the drill rod (12), and the drilling preparation is completed. T200, start the rock drill (9) to cooperate with the chain propulsion device, drive the drill rod (12) to move along the slide rail (18) to implement drilling, and after drilling is completed, the rock drill (9) is retracted to the fixed groove (19), the threaded sleeve (11) is automatically reversed to release the drill rod (12), the mechanical claw (16) grabs it back to the rod storage (15), and the drilling and rod releasing processes are completed. T300, rotate the rod storage (15) to switch positions, the mechanical claw (16) cooperates with the threaded sleeve (11) to load the anchor rod (14) to the rock drill (9), the push beam (8) slowly pushes the anchor rod (14) into the hole, and grout is pumped into the anchor rod (14) through the grout inlet (10) during the pushing process. T400, until the anchor rod (14) is pushed into the hole bottom, stop grouting, complete the installation and implantation of the anchor rod (14); T500, after the anchor rod (14) is installed in place, the threaded sleeve (11) automatically rotates to achieve disengagement, the rock drill (9) is retracted to the initial position along the slide rail (18), at this time, new anchor rods (14) are supplemented in the vacant position of the rod storage (15) by manual operation, and the equipment is simply checked to ensure continuous subsequent circulation operation; T600, adjust the push beam (8) to align with the next hole position by controlling the arm support (4), repeat the above drilling, grouting and anchor inserting steps until all support tasks in the area are completed, fold the arm support (4) and the push beam (8) after the operation is completed, drive the walking unit (1) away from the construction site, and complete the construction.

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