Rock drilling rig and method for rock reinforcement

Abstract

A roofbolter and method for rock consolidation. The invention relates to a roofbolter (1) comprising a stock reservoir (12) supported at the front of a carrier (2) and movable to a pick-up position (PP). The bolting unit (4) comprises a bolt shelf (11) and is positioned to the pick-up position to simultaneously replenish a plurality of rock bolts (5) from a delivery plane (16) of the bolt store.

Description

Technical Field

[0001] This invention relates to a rock anchor drilling machine for installing rock anchors into boreholes to reinforce rock surfaces.

[0002] The present invention also relates to a method for rock reinforcement.

[0003] The scope of the invention is further defined in the preamble of the independent claims. Background Technology

[0004] In mines, construction sites, and other work areas, there is a need to reinforce rock surfaces to ensure their safety and suitability for their intended use. A common method for rock reinforcement is rock bolting. In this system, multiple rock bolts are secured in boreholes using grouting material. This binds the rock strata together, reducing the risk of collapse. Various types of rock bolts, rock bolting rigs, and methods for installing rock bolts exist. However, current solutions for manipulating rock bolts on-site have shown some drawbacks. Summary of the Invention

[0005] The purpose of this invention is to provide a novel and improved solution for manipulating and installing rock anchors to reinforce rock surfaces.

[0006] The anchor drilling machine according to the present invention is characterized by the feature portion of the independent device claim.

[0007] The method according to the invention is characterized by the characteristic features of the independent method claims.

[0008] The disclosed solution is conceived in that an anchor bolt storage unit is supported on the carrier of the rock bolt drilling rig and is movable in front of the carrier. The anchor bolt storage unit can be moved to a desired pickup position in the operating direction in front of the carrier. An anchor bolt holder is mounted to the rock bolt drilling unit and includes multiple parallel storage positions for receiving multiple rock bolts. A control unit can control the movement of the rock bolt drilling boom in response to data regarding the position and orientation of the anchor bolt storage unit to position the anchor bolt holder at the pickup position.

[0009] In other words, the bolt storage unit is part of the bolt drilling rig and can be moved to the desired pickup position located in the front area of ​​the vehicle. Furthermore, the bolt rack of the bolt drilling unit is moved to the pickup position to collect new rock bolts from the bolt storage unit positioned there. Therefore, to replenish the bolt rack, both the bolt storage unit and the bolt rack are moved to the pickup position under the control of the control unit and align there to perform the pickup of rock bolts.

[0010] One advantage of the disclosed solution is that the bolt storage unit is located away from the vehicle, allowing for greater freedom in vehicle layout design. In other words, the bolt storage unit does not occupy space on the vehicle.

[0011] Another advantage is that, since there is no fixed physical pickup location, the pickup location can be selected or limited based on operational efficiency, available space in the operational direction, collision avoidance, the kinematic characteristics of the anchor boom, and other potential issues. Because there is no fixed or predetermined pickup location, any suitable location can be used. This solution thus improves operational flexibility. The pickup location can be dynamically selected during operation.

[0012] Furthermore, it can improve the lateral stability of the bolt drilling rig, especially its turning stability. The bolt storage section can be moved to its outermost position within the turning radius, thereby mitigating potential lateral tipping.

[0013] The control unit controls the operation of the rock bolt drilling rig and its actuators. The control unit is provided with sensing data regarding the movement of the bolt boom, bolt unit, and bolt storage unit. The control unit is also capable of generating position data required to move the bolt storage unit to any desired position in front of the carrier, defining position data for a selected pickup position, and moving the bolt rack to the determined pickup position.

[0014] According to one embodiment, the bolt holder is configured to simultaneously pick up multiple rock bolts from the bolt storage section. Thus, all storage positions of the bolt holder are replenished simultaneously through a single pick-up operation. This makes filling the bolt holder fast and efficient.

[0015] According to one embodiment, the number of storage positions in the anchor bolt shelf is 2-6, preferably 4. The anchor bolt shelf can be regarded as an intermediate anchor bolt storage section between the actual anchor bolt storage section and the anchor bolt feeding device of the anchor bolt driving unit.

[0016] According to one embodiment, the bolt holder is a static component permanently installed to the bolting unit and does not have any actuating mechanism for moving rock bolts from the bolt storage section to the bolt holder. Therefore, no actuating arms, manipulators, robotic arms, or related equipment are provided in or associated with the bolt holder. The bolt holder only contains a gripping member for holding the rock bolts supplied to the bolt holder on the bolt storage section. The gripping member may be spring-loaded or may be equipped with jaws operated by one or more actuators.

[0017] According to one embodiment, the disclosed solution, comprising an anchor storage section and an anchor shelf, is configured for manipulating pre-assembled rock anchors, which are equipped with tension nuts and support plates. The support plates are also referred to as anchor plates and washers. Pre-assembly of the rock anchors can be performed on-site or elsewhere. Furthermore, this pre-assembly can be performed manually, or alternatively, by means of mechanized or automated equipment.

[0018] According to one embodiment, the disclosed solution, comprising an anchor storage section and an anchor shelf, is configured for manipulating unassembled rock anchors, i.e., steel bars or threaded rods without a support plate. In this case, the assembly of the support plate can be completed, for example, at the anchor driving unit. In some cases, the stored steel bars may be without a tension nut and support plate, therefore the assembly includes the installation of the nut and support plate.

[0019] According to one embodiment, the rock bolt drilling rig includes at least one rock bolt component storage section located on a carrier. Therefore, a first component storage section for steel bars, a second component storage section for tensioning nuts, and a third component storage section for support plates can be arranged. The first component storage section can be located at the front of the carrier and can be oriented laterally relative to the longitudinal axis of the carrier. Thus, the stored steel bars are close to the bolt storage section and easily manipulated.

[0020] According to one embodiment, in addition to the disclosed rock bolt storage and manipulation arrangement, the rock bolt drilling rig may also be equipped with cable bolt feeding and manipulation equipment. Therefore, the rock bolt drilling rig may include a dual system to allow the installation of either rock bolts or cable reinforcements.

[0021] According to one embodiment, the rock drilling unit includes a rock drilling machine, or alternatively, the rock drilling machine may include a separate drilling boom with a rock drilling unit.

[0022] According to one embodiment, the bolt-driving rig can also relate to a rock drill that uses a drilling boom to drill blast holes or any other type of borehole, and wherein the rock drill further includes the disclosed bolt-driving boom, bolt-driving unit, and bolt storage section. Therefore, the disclosed solution can be implemented, for example, on a tunnel boring machine primarily used for performing face drilling.

[0023] According to one embodiment, the bolt storage unit supported on the vehicle is movable at least in the lateral direction of the vehicle. Therefore, in addition to the pickup position, the bolt storage unit can be moved to at least one refill position located laterally outside the front of the vehicle. In other words, the refill position is not located below the bolting boom facing the operating direction, but in another location. This allows the bolt storage unit to be moved away from the normal operating area of ​​the bolting boom, thus enabling safe refilling. The normal operating area is typically fan-shaped and defined by the reach of the bolting boom. The refill position can be confined outside this area, in which collisions with the bolting boom and bolting unit are impossible.

[0024] According to one embodiment, the refill location is situated on one side of the vehicle. More space is available on this side of the vehicle, and the required maneuvering operations are more easily performed.

[0025] According to one embodiment, in addition to lateral movement, the bolt storage unit is also capable of vertical movement relative to the carrier. The advantage of this vertical movement feature is that the height of the bolt storage unit can be adjusted to facilitate smooth retrieval of bolts operated by the bolt rack and bolt-driving boom. For example, this vertical movement can also be performed when reloading the bolt storage unit.

[0026] According to one embodiment, the anchor bolt storage unit is supported by a control arm connected to the front of the vehicle and capable of moving horizontally and vertically via at least one rotary joint and at least one rotating mechanism. In other words, the control arm allows for flexible movement of the anchor bolt storage unit to different pick-up and resupply locations.

[0027] According to one embodiment, the first end of the control arm is connected to the front of the carrier via one or more joints, thereby allowing the control arm and the bolt storage section located at the second end of the control arm to move flexibly. This makes the work of the bolt drilling rig operator easier, safer, and more productive. The length of the control arm can also be configured to be adjustable.

[0028] According to one embodiment, the first end of the control arm is connected at the front of the vehicle at a lateral distance from the longitudinal centerline of the vehicle. The control arm can be mounted at a mounting point located at the maximum lateral distance from the centerline. Therefore, the control arm can be rotated to a transport position in which it is laterally or substantially laterally oriented relative to the longitudinal direction of the vehicle. Consequently, the control arm and the bolt storage section at its distal end do not increase the length of the vehicle and do not create visual obstruction when driving and positioning the bolt drilling rig.

[0029] Furthermore, the control arm can be rotated to a desired angular orientation relative to the vehicle, thereby allowing the bolt storage unit to be positioned at a desired location relative to the bolting unit during bolting operations. For example, when the control arm is mounted close to one side of the vehicle, it has sufficient lateral reach when rotated to one side of the vehicle for refilling the bolt storage unit.

[0030] In another alternative, the control arm can be positioned at a mounting point located on the centerline of the vehicle.

[0031] According to one embodiment, the bolt storage unit can be supported on a guide rail and can slide on the guide rail to one or more pickup positions located at the front of the vehicle. Another possibility is that the main body of the bolt storage unit is directly supported to the front of the vehicle via one or more joints, allowing the bolt storage unit to rotate to different pickup and resupply positions in the front region of the vehicle.

[0032] According to one embodiment, the installation of the bolt storage unit includes a quick-connect device, thereby making the bolt storage unit a replaceable unit. In other words, the bolt storage unit can be quickly and easily removed and reinstalled. This facilitates, for example, maintenance procedures, and if the bolt storage unit fails, it can be replaced with a new bolt storage unit.

[0033] According to one embodiment, the bolt storage unit is a pre-filled unit, and when it becomes empty, it can be replaced with a new pre-filled bolt storage unit. Pre-filling of the removed bolt storage unit can be carried out off-site under good and safe conditions. Using replaceable and pre-filled bolt storage units improves the efficiency and safety of refilling procedures.

[0034] According to one embodiment, the bolt storage unit can be moved laterally and away from the bolting area by means of a movable control arm. This allows the bolt storage unit to be replaced during the bolting operation without needing to access under the bolting boom. Furthermore, the bolt storage unit can be replaced, for example, using a transport vehicle (e.g., a forklift).

[0035] According to one embodiment, the bolt storage unit further includes support elements for supporting rock bolts in multiple adjacent rows, each row comprising multiple sequentially arranged rock bolts. A delivery plane is also provided on the side of the bolt storage unit that is transverse to the longitudinal direction of the rock bolts. At least one feeding arrangement is configured to move rock bolts within the bolt storage unit toward the delivery plane, such that the delivery plane has multiple parallel rock bolts accessible by bolt holders. In other words, the bolt storage unit simultaneously distributes multiple rock bolts on the delivery plane for bolt holders that can move close to the delivery plane. The feeding arrangement distributes the rock bolts by moving them along a linear movement path.

[0036] According to one embodiment, the delivery arrangement is configured to move the delivery plane a further distance from the basic structure of the anchor storage section. Thus, the movement of the delivery plane can be used as a fine positioning movement toward the anchor shelf (which is roughly positioned close to the delivery plane). In other words, the final positioning movement at the pickup position can be achieved by moving the delivery plane toward the anchor shelf using the delivery arrangement. In this way, the delivery arrangement not only moves the rock anchors within the anchor storage section but also assists in positioning measures at the pickup position.

[0037] According to one embodiment, the anchor storage section includes a physical guide element located on the side of the delivery plane for guiding the anchor shelf when it is positioned relative to the anchor storage section. The physical guide element facilitates and expedites the final positioning stage.

[0038] According to one embodiment, the delivery arrangement includes a scissor mechanism actuated by one or more actuators; therefore, the anchor storage section may include a scissor-type lifting mechanism for moving the rock anchor toward the delivery plane. For example, the scissor mechanism may be actuated by a pressure fluid cylinder or a motor. The advantages of this scissor mechanism are its simple structure, reliability, and low cost.

[0039] According to an alternative embodiment, the feeding arrangement includes a platform, a support platform, or any other movable structure that can be moved linearly by means of one or more actuators, such as a pressure fluid cylinder or a motor.

[0040] According to one embodiment, each support element includes at least two support arrangements that are arranged at a distance from each other when viewed in the longitudinal direction of the rock anchor, thereby ensuring the stability of the rock anchor within the anchor storage section.

[0041] According to one embodiment, the support element includes vertically oriented slots configured to receive multiple lateral rock anchor bolts, one on top of the other. A delivery plane lies on the vertical surface of the anchor bolt storage section. In other words, multiple rock anchor bolts are stacked in each slot. The delivery plane lies on the upper surface of the anchor bolt storage section, i.e., at the free end of the slot, and is vertically accessible by the anchor bolt shelf. Thus, in this embodiment, the anchor bolt storage section simultaneously distributes rock anchor bolts vertically via multiple laterally adjacent slots. The anchor bolt shelf retrieves multiple distributed rock anchor bolts from the top layer of the anchor bolt storage section.

[0042] According to one embodiment, the groove is defined by a vertically oriented rod, or alternatively, one or more vertical support plates are arranged, the one or more vertical support plates having vertically oriented grooves in their structure.

[0043] According to one embodiment, the support elements are horizontally oriented parallel brackets with a support surface on their vertical surface, whereby each support element is configured to support a plurality of laterally adjacent and horizontally oriented rock anchors. A delivery plane is located on the vertical side of the anchor storage section on the far end of the bracket. In other words, the delivery plane is located at the free end of the horizontal bracket and is therefore accessible horizontally by the anchor shelf. Thus, in this embodiment, the anchor storage section simultaneously distributes laterally adjacent rock anchors on a plurality of support elements in the horizontal direction, the plurality of support elements being arranged one on top of the other.

[0044] According to one embodiment, the control unit is configured to determine the pick-up location in response to data regarding the planned work cycle of rock bolting operations to be performed at the work site. In other words, when determining the appropriate location for filling the bolt holders from the bolt storage unit, the control unit considers the bolting plan, bolt locations, the number of rock bolts to be installed, the bolting sequence, the bolting order, and other available bolting data. Thus, the control unit can pre-position the bolt storage unit close to the bolting unit so that the bolt storage unit does not rapidly perform the filling of the bolt holders. In this way, the disclosed system can be prepared for upcoming bolt holder filling. An advantage of this embodiment is that the interruption to the actual bolting operation caused by picking up rock bolts from the bolt storage unit is minimized or eliminated entirely.

[0045] According to one embodiment, the control unit is configured to estimate the refilling needs of the anchor shelf in manually controlled or computer-aided anchor driving. Thus, the control unit can determine the location of the anchor driving unit and the number of remaining rock anchors in the anchor shelf, and can control the system to preposition the anchor storage section near the anchor driving unit or any other suitable pick-up location to provide smooth refilling of the anchor shelf.

[0046] According to one embodiment, the bolt storage unit includes a gripping mechanism for gripping at least one pre-loaded bolt assembly and holding the bolt assembly within the bolt storage unit. In other words, the bolt storage unit is configured to receive one or more bolt assemblies, each bolt assembly having multiple rock bolts. The application of the bolt assemblies accelerates the refilling of the bolt storage unit.

[0047] According to one embodiment, the bolt assembly is a bolt clamp or bolt magazine filled with multiple rock bolts, the bolt clamp or bolt magazine including a housing or support structure internally filled with rock bolts. The bolt storage section may include multiple separate, adjacent spaces, each capable of receiving one bolt clamp. For example, when the bolt shelf includes an intermediate storage space for four rock bolts, the bolt storage section includes four adjacent bolt clamps, each arranged to deliver a rock bolt to a delivery plane of the bolt storage section. The bolt storage section may have a common conveying arrangement for delivering the rock bolts to the delivery plane, or alternatively, the bolt clamps may have dedicated conveying arrangements.

[0048] According to one embodiment, the anchor bolt assembly is an anchor bolt bundle in which multiple rock anchor bolts are interconnected so that the anchor bolt bundle can be manipulated as a single unit, at least when filling the anchor bolt storage compartment at a time with a single bundle of anchor bolts. For example, a gripping mechanism can grasp the ends of the anchor bolt bundle. The gripping mechanism may include end plates with protruding projections for supporting the ends of the rock anchor bolts in the anchor bolt bundle. Furthermore, the anchor bolt storage compartment may include multiple parallel brackets with support surfaces on their upper surfaces, whereby each bracket is configured to support multiple laterally adjacent rock anchor bolts. The brackets may be supported by rotatable support poles located between the end plates, and these support poles may be rotatable to an operating position where they provide support for the stored rock anchor bolts, and also to a resting position where they rotate away without obstructing the grasping of a new anchor bolt bundle. The anchor bolt bundles may be bound together by straps, or may be provided with other connecting and supporting elements that will be removed after the anchor bolt bundles have been properly placed in the anchor bolt storage compartment. The straps can be removed after the brackets are rotated to their operating positions and the rock anchors are supported on the upper support surface of the brackets.

[0049] According to one embodiment, the disclosed solution also relates to a method for rock reinforcement. The method includes: using a rock bolt drilling rig, the rig including a carrier, a rock bolt boom, a rock bolt unit, and a rock bolt storage section supported on the carrier; drilling a hole into the rock surface using a rock drilling machine; feeding grouting material into the hole; and feeding rock bolts into the hole using a feeding device of the rock bolt unit. The method further includes: providing an anchor bolt holder for storing multiple rock anchor bolts in the anchor bolt unit; moving the anchor bolt storage section to a desired pickup position in the operating area of ​​the anchor bolt boom and in front of the carrier; actuating the anchor bolt boom to move the anchor bolt holder to the pickup position to replenish the anchor bolt holder with multiple rock anchor bolts; positioning the anchor bolt holder and the anchor bolt storage section relative to each other at the pickup position so that multiple storage positions of the anchor bolt holder match multiple accessible rock anchor bolts on the anchor bolt storage section; and simultaneously clamping the multiple rock anchor bolts by means of the anchor bolt holder.

[0050] According to one embodiment, the method further includes simultaneously distributing multiple parallel rock bolts to the delivery plane of the bolt storage unit using at least one delivery arrangement of the bolt storage unit.

[0051] According to one embodiment, the method further includes: moving the bolt storage unit in front of the vehicle by means of a manipulator arm to position the bolt storage unit to a plurality of pick-up locations and at least one refill or refill location, in which rock bolts are loaded into the bolt storage unit.

[0052] According to one embodiment, the method further includes replenishing the anchor storage unit by simultaneously loading multiple rock anchors into the anchor storage unit in the manner of providing anchor clamps or anchor bundles.

[0053] The disclosed embodiments described above can be combined with each other to form a suitable solution having the desired features described above. Attached Figure Description

[0054] Some embodiments are described in more detail in the accompanying drawings, in which:

[0055] Figure 1 This is a schematic side view of a rock bolt drilling rig that installs rock bolts onto the rock surface;

[0056] Figure 2 It is a schematic top view of a bolt drilling rig equipped with a movable bolt storage section (arranged at the front of the vehicle);

[0057] Figure 3 This is a schematic top view of an anchor bolt drilling rig in which the anchor bolt storage section has been moved to the transport position;

[0058] Figure 4 This is a schematic top view of the front of the rock bolt drilling rig, where the rock bolt storage section has been moved to the refill position;

[0059] Figure 5 This is a schematic side view of the front of the anchor bolt drilling rig, which is equipped with an operating arm for moving the anchor bolt storage section;

[0060] Figure 6 This is a schematic side view of the portion of the bolt storage unit that includes a quick-connect device for removably connecting the bolt storage unit to the control arm.

[0061] Figure 7 This is a schematic side view of the anchor storage section and the anchor shelf structure for picking up rock anchors from the delivery plane;

[0062] Figure 8 This is a schematic side view of a scissor-type feeding arrangement configured to distribute rock anchors within the anchor storage section toward the delivery plane.

[0063] Figure 9 This is a schematic side view of the anchor storage section, which includes a support element oriented in the horizontal direction and a pre-loaded anchor assembly to be grabbed by the support element.

[0064] Figure 10 It is a schematic side view of an anchor storage section having a delivery plane oriented in the vertical direction and an anchor shelf positioned adjacent to the anchor storage section;

[0065] Figure 11 This is a schematic side view of the anchor bolt storage section, which includes a gripping device for gripping pre-loaded anchor bolt assemblies;

[0066] Figure 12 This is a schematic side view of the front of an anchor bolt drilling rig, which has a component storage section oriented laterally relative to the carrier.

[0067] For clarity, the accompanying drawings illustrate some embodiments of the disclosed solution in a simplified manner. In the drawings, the same reference numerals denote the same elements. Detailed Implementation

[0068] Figure 1A rock bolt drilling rig 1 is disclosed, comprising a movable carrier 2 and at least one rock bolt boom 3, at the free end of which is a rock bolt unit 4 for installing rock bolts 5 within a borehole 6. The rock bolt unit 4 may include a rock drilling unit 7 for drilling out of the borehole 6, or alternatively, the borehole 6 may already be drilled. The rock bolt unit 4 includes a rock bolt head 8 or a rock bolt feeding device for feeding the rock bolts 5. The rock bolt head 8 is connected to a grouting feeding system 9 so that grouting material can be fed into the borehole 6 through the rock bolts 5. Therefore, the rock bolt head 8 is connected to a grouting feeding hose 10. Any known grouting material can be used. The rock bolt head 8 is also capable of pre-tightening the rock bolts 5 by tightening tension nuts arranged on the rock bolts 5. Furthermore, the rock bolt unit 4 is provided with a rock bolt holder 11 for holding one or more rock bolts 5 close to the rock bolt head 8. A mechanism is provided for moving rock anchor bolts 5 from the anchor bolt holder 11 to the anchor bolt line defined by the anchor bolt head 8. This moving mechanism is not shown for clarity. The anchor bolt drilling rig 1 also includes an anchor bolt storage section 12 for storing multiple rock anchor bolts 5. The anchor bolt storage section 12 is supported to the carrier 2 and is movably arranged in front of the carrier 2. Thus, the anchor bolt storage section 12 can be moved to a pickup position PP located in front of the carrier 2 in the operating direction OD. When the anchor bolt storage section 12 is positioned at the pickup position PP, the anchor bolt holder 11 can also be positioned at the pickup position PP to collect new rock anchor bolts 5 from the anchor bolt storage section 12. The movement of the anchor bolt storage section 12 and the anchor bolt drilling unit 4 can be controlled under the control of the control unit CU so that the anchor bolt storage section 12 and the anchor bolt holder 11 can be automatically positioned at the pickup position PP. The position and orientation of the pickup position PP can be determined in real time according to specific circumstances during the anchor bolt drilling operation. Therefore, when executing a bolting plan (such as fan bolt pattern 13), multiple different pick-up locations (PP) can be implemented.

[0069] As can be seen, the bolt storage unit 12 is mounted to the articulated control arm 14 and can be moved in various ways to the front operating area below the bolting arm 3.

[0070] Figure 2 The possible movement of the bolt storage unit 12 is indicated by arrows. The control arm 14 may include multiple rotary joints 15a, 15b, 15c and a linear joint 15d for extending and retracting the control arm 14. The control arm 14 may be mounted close to a side of the vehicle 2, or it may be located at other positions at the front of the vehicle. The bolt storage unit 12 may include a delivery plane 16 on its upper surface, and bolt holders may be positioned on the delivery plane 16 to simultaneously pick up multiple rock bolts 5 from the bolt storage unit 12. Figure 2In the delivery plane 16, four parallel rock anchor bolts 5 are available for pickup, but the number of rock anchor bolts 5 can be designed according to specific circumstances. Each rock anchor bolt 5 includes a bolt body 17, a support plate 18, and a tension nut 19. Pre-assembled rock anchor bolts 5 can be manually fed one by one into the anchor bolt storage section 12, or anchor bolt clips or bundles consisting of multiple rock anchor bolts 5 can be inserted into the anchor bolt storage section 12 using a loading device, or alternatively, anchor bolt clips can be picked up using the anchor bolt storage section 12. The anchor bolt storage section 12 can be moved to the side of the operating area, thereby making loading easier and safer without hindering the actual anchor bolting process.

[0071] Figure 3 The bolt storage unit 12 is shown in a transport position, positioned close to the vehicle 2. For clarity, the bolt-driving boom is not shown in the figure.

[0072] Figure 4 The anchor storage unit 12 is moved to the refill position RP located on one side of the carrier 2. At this time, the refill position RP is outside the operating area, which facilitates the loading of new rock anchors 5. The rock anchors 5 can be assembled on that side of the carrier 2, and the anchor storage unit 12 can also be replenished using pre-loaded anchor assemblies 20.

[0073] Figure 5 The front of the anchor bolt drilling rig 1 is disclosed. The main features of this solution are combined with the previous... Figures 1 to 4 Discussions were conducted. However, a manipulator or mechanism 21 was further disclosed for moving the rock anchor 5 from its storage position on the anchor holder 11 to the anchoring line 22 of the anchoring unit 4. This mechanism 21 could be, for example, as follows: Figure 5 The robotic arm shown, or it could be like... Figure 12 The manipulator arm shown is linearly movable. Figure 5 and Figure 12 In the above, all 21 institutions disclosed information in a simplified form.

[0074] Figure 6The disclosed frame structure 23 of the bolt storage unit 12 may include a quick-connect device 24 for removably connecting the bolt storage unit 12 to an operating arm 14 configured to move the bolt storage unit 12. For clarity, the operating arm 14 is shown in a simplified form. The quick-connect device 24 may include an upwardly projecting rigid pin 25 and a vertical opening 26 in the frame 23 for receiving the pin 25 when the operating arm 14 and the connecting adapter 27 move vertically relative to the frame 23. After the fixed pin 25 is engaged, a laterally moving pin 28 is locked to the lateral opening 29 by means of an actuator 30. An advantage is that a pre-loaded bolt storage unit 12 can be achieved, allowing for easy and quick removal of an empty bolt storage unit and connection of a new one at the bolting site. The disclosed quick-connect device 24 can also be used when connecting a cable bolt reel to the operating arm 14 (instead of using the bolt storage unit 12).

[0075] Figure 7 The disclosed anchor bolt storage section 12 includes multiple vertical support elements 31, which form vertically oriented grooves 32 to receive multiple vertically arranged rock anchor bolts 5. Figure 7 There are four parallel slots 32, but the number of slots can be designed as needed. The delivery plane 16 is located on the top surface of the anchor bolt storage section 12, i.e., on the vertical surface. The rock anchor bolts 5 are arranged in four adjacent rows 33, and there are four parallel rock anchor bolts 5 on the delivery plane 16 that can be simultaneously reached by the anchor bolt shelf 11, which includes the same number of storage positions 34. The storage positions 34 may be equipped with grippers 35, such as gripping claws, for gripping the rods 17 of the rock anchor bolts 5. The anchor bolt shelf 11 can be mounted, for example, to the side surface of the feed beam 36 on which the anchor bolt head can move. The anchor bolt shelf 11 can be positioned toward the delivery plane 16 by moving the anchor bolt unit and the feed beam 36, which is part of the anchor bolt unit. The anchor bolt storage section 12 includes a feeding arrangement 37 for moving the rock anchor bolts 5 within the groove 32 toward the delivery plane 16, such that the delivery plane 16 is provided with a plurality of parallel rock anchor bolts 5 accessible to the anchor bolt holder 11. The feeding arrangement 37 may include a feeding element 38, such as a feeding plate, for moving the rock anchor bolts 5 within the anchor bolt storage section 12. The feeding element 38 is actuated by a feeding actuator 39, such as a fluid-operated cylinder. The upward movement of the feeding element 38 can also be utilized when gripping the rock anchor bolts 5 using the anchor bolt holder 11.

[0076] Figure 8 An example of a scissor-lift type feeding arrangement 37 is disclosed. When the feeding actuator 39 is operated, the feeding element 38 can move linearly. The mechanism of the feeding arrangement 37 includes a linkage mechanism.

[0077] Figure 9 and Figure 10 The anchor bolt storage section 12 is disclosed to have horizontally oriented support elements 31. The support elements 31 can be horizontally oriented parallel brackets, each having a support surface on its vertical surface, whereby each support element 31 can support multiple laterally adjacent and horizontally oriented rock anchor bolts 5. Thus, a multi-row 33 of rock anchor bolts 5 is arranged on top of each other. Two sets of support elements 31 can be provided, spaced horizontally apart to allow free space between the sets, thereby allowing the anchor bolt shelf 11 to move between these sets when collecting the rock anchor bolts 5. This configuration... Figure 11 As shown in the diagram. In this solution, the delivery plane 16 is located on the vertical side of the anchor storage section 12. The position of the delivery plane 16 is adjusted laterally as the anchor shelf 11 collects the rock anchors 5 from the delivery plane 16. However, a feeding arrangement can also be arranged to move the remaining rock anchors 5 toward the end of the support element 31, in which case the delivery plane 16 is located on the side of the distal end of the support element 31. The anchor storage section 12 may also include a gripping mechanism 40 for gripping the pre-loaded anchor assembly 20 and holding the anchor assembly 20 in the anchor storage section 12. For clarity, the gripping mechanism 40 is shown in... Figure 9 It is shown in dashed lines.

[0078] The anchor bolt assembly 20 may be an anchor bolt bundle 41, in which multiple rock anchor bolts 5 are interconnected so that the anchor bolt bundle 41 can be operated as a single unit. Straps 42 may be provided around the anchor bolt bundle 41, and spacers 43 or other components or materials may be provided to provide suitable space in which the support element 31 of the anchor bolt storage section 12 can be moved. The disclosed solution is only one possible embodiment of a pre-loaded anchor bolt assembly 20 operable by means of the anchor bolt storage section 12. Figure 10 In this process, the anchor bolt assembly 20 is installed inside the anchor bolt storage section 12, and the straps 42 and spacers 43 can be removed manually or automatically with the aid of suitable mechanized equipment.

[0079] Figure 11 A gripping mechanism 40 is disclosed, comprising an end plate 44 with a protrusion 45 for supporting the end of a rock anchor 5 in a pre-loaded anchor assembly 20. The end plates 40 are movable toward and away from each other to perform gripping operations.

[0080] Figure 12 The front of the carrier 2 of the rock bolt drilling rig 1 is disclosed to be a component storage section 46 for storing multiple rods 17 of the rock bolts 5. The component storage section 46 is oriented laterally relative to the carrier 2. Furthermore, in Figure 12In this configuration, the bolt storage unit 12 is slidably mounted on the guide rod 47 or a corresponding support element to allow linear movement of the bolt storage unit. The guide rod 47 may be telescopically extendable and may be connected to the carrier 2 and the bolt storage unit 12 via one or more joints.

[0081] The apparatus and system disclosed in this document can be automatically controlled under the control of one or more control units (CUs), or collaboratively controlled by the operator of the bolting rig 1. The control unit (CU) includes a processor configured to execute control programs. The bolting boom 3 and bolting unit 4 may be equipped with sensors that provide the required position data to the control unit (CU). Additionally, the manipulator arm 12 and bolt storage unit 12 may also be equipped with sensors for generating position sensing data for the control unit (CU). Alternatively or supplementarily, one or more position scanning devices or other measuring devices may be provided to generate position and orientation data for the control unit (CU), thereby assisting the control unit (CU) in positioning the bolting support 11 to the bolt storage unit 12.

[0082] The accompanying drawings and related descriptions are intended only to illustrate the concept of the invention. The invention may vary within the scope of the claims in terms of its details.

Claims

1. A rock anchor drilling machine (1) for installing rock anchors (5) into boreholes (6) to reinforce rock surfaces. in, The anchor drilling rig (1) includes: Movable vehicles (2); At least one anchor bolt boom (3) is mounted on the vehicle (2) and faces the operating direction (OR). At least one rock bolt unit (4) is installed on the distal portion of the rock bolt boom (3) and configured to deliver the rock bolt (5) into the borehole (6); An anchor rod holder (11) is installed on the anchor rod unit (4) and is capable of holding at least one rock anchor rod (5). At least one anchor storage section (12) is provided for storing multiple rock anchors (5) and is supported to the carrier (2). At least one pick-up position (PP) in which the rock anchor (5) is configured to be loaded from the anchor storage section (12) to the anchor shelf (11) under the control of at least one control unit (CU). Furthermore, the pickup position (PP) determines the position and orientation of the anchor storage section (12); Its features are, The anchor storage section (12) supported to the vehicle (2) is movably arranged in front of the vehicle (2) and can be moved to the pickup position (PP), which is located in front of the vehicle (2) in the operating direction (OR). The anchor rod holder (11) includes multiple parallel storage positions (34) for receiving multiple rock anchor rods (5). Furthermore, the control unit (CU) is configured to control the movement of the bolt-driving boom (3) in response to data regarding the position and orientation of the bolt storage section (12) to position the bolt shelf (11) at the pick-up position (PP).

2. The anchor drilling machine according to claim 1, characterized in that, The anchor storage section (12) supported to the vehicle (2) is movable at least in the lateral direction of the vehicle (2), thereby enabling the anchor storage section (12) to move to at least one refill position (RP) other than the pick-up position (PP), which is located laterally outside the front of the vehicle (2).

3. The anchor drilling machine according to claim 2, characterized in that, The anchor storage section (12) is supported on the control arm (14), which is connected to the front of the vehicle (2) and is capable of moving horizontally and vertically by means of at least one rotary joint (15a-15c) and at least one rotating mechanism.

4. The anchor drilling rig according to any one of claims 1 to 3, characterized in that, The installation of the anchor bolt storage unit (12) includes a quick-connect device (24), thereby making the anchor bolt storage unit (12) a replaceable unit.

5. The anchor drilling rig according to any one of claims 1 to 4, characterized in that, The anchor storage section (12) also includes: Support element (31) is used to support the rock anchor (5) into multiple adjacent rows (33), wherein each row (33) includes multiple rock anchors (5) arranged in sequence. Delivery plane (16), the delivery plane (16) is located on the side of the anchor storage part (12) that is transverse to the longitudinal direction of the rock anchor (5); And at least one delivery arrangement (37) for moving the rock anchors (5) in the anchor storage section (12) toward the delivery plane (16) such that the delivery plane (16) has a plurality of parallel rock anchors (5) accessible by the anchor shelf (11).

6. The anchor drilling machine according to claim 5, characterized in that, The support element (31) includes vertically oriented grooves (32) configured to receive multiple transverse rock anchors (5) one on top of the other; and The delivery plane (16) is located on the vertical surface of the anchor storage section (12).

7. The anchor drilling machine according to claim 5, characterized in that, The support element (31) is a horizontally oriented parallel bracket with a support surface on the vertical surface of the bracket. Thus, each of the support elements (31) is configured to support multiple horizontally oriented rock anchors (5) that are laterally adjacent. Furthermore, the delivery plane (16) is located on the vertical side of the anchor storage section (12) on one side of the far end of the bracket.

8. The anchor drilling machine according to any one of claims 1 to 7, characterized in that, The control unit (CU) is configured to determine the pick-up position (PP) in response to data provided regarding the planned work cycle of rock bolting actions to be performed at the work site.

9. The anchor drilling machine according to any one of claims 1 to 8, characterized in that, The anchor storage section (12) includes a gripping mechanism (40) for gripping at least one pre-loaded anchor assembly (20) and for holding the anchor assembly (20) in the anchor storage section (12).

10. A method for rock reinforcement, wherein, The method includes: Using an anchor bolt drilling machine (1), the anchor bolt drilling machine includes a carrier (2), an anchor bolt boom (3), an anchor bolt unit (4), and an anchor bolt storage section (12) supported to the carrier (2). Using a rock drilling machine (7), drill holes (6) into the rock surface; The grouting material is delivered into the borehole (6); and Using the anchor bolt head (8) of the anchor bolt unit (4), the rock anchor bolt (5) is delivered to the borehole (6). Its features include, An anchor rod holder (11) is provided for the anchor rod unit (4), which is used to store multiple rock anchor rods (5) in the middle of the anchor rod unit (4). Move the anchor storage unit (12) to the desired pick-up position (PP) in the operating area of ​​the anchor boom (3) and in front of the vehicle (2). Actuate the bolt-driving boom (3) to move the bolt holder (11) to the pick-up position (PP) so as to supply the bolt holder (11) with multiple rock bolts (5). Position the anchor bolt holder (11) and the anchor bolt storage unit (12) relative to each other at the pick-up position (PP) such that the plurality of storage positions (34) of the anchor bolt holder (11) match the plurality of accessible rock anchor bolts (5) on the anchor bolt storage unit (12); and Multiple rock anchors (5) are simultaneously clamped by means of the anchor bracket (11).

11. The method according to claim 10, characterized in that... include, Multiple parallel rock bolts (5) are simultaneously distributed to the delivery plane (16) of the bolt storage section (12) by means of at least one delivery arrangement (24) of the bolt storage section (12).

12. The method according to claim 10 or 11, characterized in that... include, The anchor storage unit (12) is moved in front of the vehicle by means of the manipulator (14) to position the anchor storage unit (12) at a plurality of pick-up positions (PP) and at least one resupply position (RP), at which rock anchors (5) are loaded into the anchor storage unit (12).

13. The method according to any one of claims 10 to 12, characterized in that... include, The anchor storage unit (12) is replenished by simultaneously loading multiple rock anchors (5) into the anchor storage unit (12) in the manner of providing anchor clamps or anchor bundles.

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