Drill-anchor integrated anchor rod vehicle and use method
By integrating the control box body with the anchor chamber and setting up a robotic arm and robotic hand rotation mechanism, the problems of low space utilization and poor operation continuity of traditional drilling and anchoring integrated anchor bolt vehicles are solved, realizing automatic material grabbing and transfer, and improving drilling and anchoring work efficiency.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- TAIYUAN UNIVERSITY OF TECHNOLOGY
- Filing Date
- 2026-04-27
- Publication Date
- 2026-06-16
AI Technical Summary
The traditional integrated drilling and anchoring bolting vehicle has a separate control box and anchor chamber, resulting in low space utilization, poor work continuity, frequent operator movement, high labor intensity, and low drilling and anchoring efficiency.
The control box body is fixedly integrated with the anchor bin, and a robotic arm and robotic hand rotation mechanism are set up to realize automatic material grabbing and transfer, improving space utilization and automatic connection capability.
It improves space utilization, reduces the need for operators to frequently move materials to pick them up, lowers labor intensity, and increases drilling and anchoring efficiency.
Smart Images
Figure CN122215819A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of mining and tunnel construction equipment technology, and in particular to a drilling and anchoring integrated anchor bolt vehicle and its usage method. Background Technology
[0002] The integrated drilling and anchoring bolting machine is a core piece of equipment for achieving efficient and continuous roadway support. With the industry's increasing demands for operational safety and construction efficiency, the automation and intelligent upgrading of this type of equipment has become a clear trend. In existing technologies, traditional designs typically separate the control box from the anchor chamber, resulting in low space utilization, poor operational continuity, frequent operator movement, interruptions to work cycles, high operator workload, and low drilling and anchoring efficiency. Summary of the Invention
[0003] The purpose of this invention is to provide an integrated drilling and anchoring bolt vehicle and its usage method. The operating box body and the anchor chamber are fixedly integrated and installed, which improves space utilization and the portability of picking up and putting down materials, reduces the operator's frequent operation of picking up and putting down materials, reduces labor intensity, improves drilling and anchoring efficiency, and sets up a robotic arm and robotic hand rotation mechanism to realize automatic material grabbing and transfer, and improves automatic continuation capability.
[0004] To achieve the above objectives, the present invention provides an integrated drilling and anchoring bolting vehicle, comprising a control box body, an anchor chamber fixedly installed on the side of the control box body, a base slide rail provided on the top of the control box body, a robotic arm slidably installed on the base slide rail, the robotic arm including a first vertical hydraulic cylinder, the first vertical hydraulic cylinder being mounted on a buckle, the top of the first vertical hydraulic cylinder being connected to a horizontal rotation shaft, the horizontal rotation shaft being connected to a vertical rotation shaft, the vertical rotation shaft being connected to a horizontal hydraulic cylinder, the horizontal hydraulic cylinder being connected to a mechanical housing, a second vertical hydraulic cylinder being provided inside the mechanical housing, an anchor bolting manipulator and a drill rod manipulator being provided at the bottom of the second vertical hydraulic cylinder, and a rotating mechanism for the drill arm and manipulator being installed at the front of the control box body.
[0005] Preferably, a first positioner is installed at the top of the drill arm, a second positioner and a connecting shaft are installed in the middle of the drill arm, the connecting shaft is movably connected to the slewing bearing, the slewing bearing is provided with a lubrication and sealing structure, the end of the connecting shaft is connected to the swing hydraulic cylinder, the connecting shaft is equipped with a locking device, a drill box is installed at the bottom of the drill arm, and a drilling rig propulsion mechanism is installed inside the drill box.
[0006] Preferably, an upper blowing device is installed on the drill arm below the first locator, and the upper blowing device stores anchoring agent.
[0007] Preferably, the drill box contains a rotary motor and a propulsion mechanism interface, and the rotary motor is connected to the drilling rig propulsion mechanism through the propulsion mechanism interface.
[0008] Preferably, the robotic arm rotation mechanism is installed on the drill arm near the anchor chamber. The robotic arm rotation mechanism includes a rotary disk, a robotic arm rotation shaft, an anchoring robotic arm, and a drilling robotic arm. The robotic arm rotation shaft is installed at the rotation center of the robotic arm rotation mechanism, and the anchoring robotic arm and the drilling robotic arm are installed side by side on the rotary disk.
[0009] Preferably, the anchor bin stores anchor bolts and drill rods to be used; a chassis is installed at the bottom of the control box, and tracks are provided on both sides of the chassis.
[0010] This invention provides a method for using an integrated drilling and anchoring bolt vehicle, which includes the following steps: S1. Move the anchor bolt vehicle to the work area; S2. The robotic arm transports the anchor bolts and drill rods in the anchor chamber to the anchoring robotic arm and the rod-raising robotic arm, respectively. S3. Install drill rods to drill holes. After drilling, blow anchoring agent into the drill hole and install anchor rods. S4. After the anchor bolts are installed, all components are reset and the operation is repeated.
[0011] Preferably, the specific operation in S2 is as follows: the second vertical hydraulic cylinder extends to the anchor chamber position, the anchor rod manipulator grabs the anchor rod and then the second vertical hydraulic cylinder retracts, the horizontal hydraulic cylinder extends and then the second vertical hydraulic cylinder extends to the anchor chamber position, the drill rod manipulator grabs the drill rod, after the drill rod is grabbed, the second vertical hydraulic cylinder retracts, and the latch moves along the base slide rail towards the drill arm; after the manipulator moves to the appropriate position, the vertical rotation axis rotates 90° in the forward direction, the horizontal rotation axis rotates the anchor rod and drill rod to the manipulator rotation mechanism, the second vertical hydraulic cylinder extends and sends the anchor rod to the upper anchor manipulator for grabbing, after the grabbing is completed, the second vertical hydraulic cylinder retracts, the manipulator rotation axis rotates 30°, the second vertical hydraulic cylinder extends and sends the drill rod to the upper drilling manipulator for grabbing, and the horizontal rotation axis rotates in the reverse direction back to the initial position.
[0012] Preferably, the specific operation in S3 is as follows: the robotic arm rotating mechanism rotates forward, driving the upper drilling robotic arm and the held drill rod to rotate until the drill rod is aligned with the installation position of the drill box, completing the alignment of the drill rod and the drill box. After alignment, the drilling rig propulsion mechanism starts and moves upward until it contacts the lower end of the drill rod. At this time, the upper drilling robotic arm unfolds and releases the drill rod, ensuring precise docking between the drill rod and the drilling rig propulsion mechanism. After docking, the robotic arm rotating mechanism rotates counterclockwise by 30° to avoid the working area of the drilling rig propulsion mechanism. The drilling rig propulsion mechanism pushes the drill rod upward through the positioning hole of the first locator under the action of the second locator to perform drilling. After drilling, the second locator unfolds to contact the positioning constraint, the drilling rig propulsion mechanism moves downward to the initial position, and the upper blowing device starts to deliver the anchoring agent. The anchor is fed into the borehole; the robotic arm rotating mechanism rotates 30° clockwise, moving the upper anchoring robotic arm and anchor rod to the borehole position until the anchor rod is aligned with the installation position of the drill box, completing the alignment of the anchor rod and the drill box. After alignment, the drilling rig propulsion mechanism starts and moves upward until it contacts the lower end of the anchor rod. At this time, the upper anchoring robotic arm unfolds and releases the anchor rod, ensuring precise docking between the anchor rod and the drilling rig propulsion mechanism. After docking, the robotic arm rotating mechanism rotates 30° counterclockwise to avoid the working area of the drilling rig propulsion mechanism. The drilling rig propulsion mechanism pushes the anchor rod upward through the positioning hole of the first locator under the action of the second locator and enters the borehole to dock with the drill rod. After docking, the second locator unfolds to contact positioning constraint, and the drilling rig propulsion mechanism moves downward to the initial position, completing the installation of the anchor rod.
[0013] Therefore, the present invention adopts the above-mentioned integrated drilling and anchoring bolt vehicle and its usage method, in which the operating box body and the anchor chamber are fixedly integrated and installed, improving space utilization and the portability of picking up and placing materials, reducing the operator's frequent operation of picking up and placing materials, reducing labor intensity, improving drilling and anchoring efficiency, and setting up a robotic arm and robotic hand rotation mechanism to realize automatic material grabbing and transfer, and improving automatic continuation capability.
[0014] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description
[0015] Figure 1 This is a three-dimensional structural schematic diagram of an integrated drilling and anchoring bolt vehicle according to the present invention; Figure 2 This is a three-dimensional structural schematic diagram of a drilling and anchoring integrated anchor bolt vehicle robotic arm according to the present invention; Figure 3 This is a three-dimensional structural schematic diagram of the drill arm of a drill-anchor integrated anchor bolt vehicle according to the present invention; Figure 4 This is a three-dimensional structural schematic diagram of the rotating mechanism of the drilling and anchoring integrated anchor bolt vehicle robot of the present invention.
[0016] Figure Labels 1. Control box body; 2. Anchor bin; 3. Robotic arm; 4. Track; 5. Drill arm; 6. First positioner; 7. Second positioner; 8. Robotic arm rotation mechanism; 9. Drilling robot; 10. Drill box; 11. Drilling rig propulsion mechanism; 12. Connecting shaft; 13. Injection device; 14. Machine housing; 15. Horizontal hydraulic cylinder; 16. Vertical rotation shaft; 17. Horizontal rotation shaft; 18. First vertical hydraulic cylinder; 19. Second vertical hydraulic cylinder; 20. Anchor bolt robot; 21. Anchor bolt; 22. Drill rod robot; 23. Drill rod; 24. Base slide rail; 25. Anchoring robot; 26. Robotic arm rotation shaft. Detailed Implementation
[0017] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.
[0018] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.
[0019] Example 1 like Figures 1 to 4 As shown, this invention provides an integrated drilling and anchoring bolt vehicle, including a control box body 1. The control box body 1 serves as the core platform and operating center of the entire equipment, and is the operator's main workstation. It houses the operating interface, control system, and some actuators, providing a centralized control point for the operator and forming the basis for human-machine interaction and automated control. A frame is mounted at the bottom of the control box body 1, with tracks 4 on both sides of the frame. The tracks 4 act as the chassis, providing the bolt vehicle's mobility and enabling it to move and position flexibly within the tunnel. An anchor bin 2 is fixedly installed on the side of the control box body 1. The anchor bin 2 stores anchor bolts 21 and drill rods 23 for use. The outlet of the anchor bin 2 is located within the effective gripping range of the robotic arm 3. The anchor bin 2 has a multi-layered layout to increase storage capacity, shorten material transfer paths, and improve operational continuity.
[0020] The top of the control box body 1 is equipped with a base slide rail 24, on which a robotic arm 3 is slidably mounted. The base slide rail 24 provides a guiding path for the overall movement of the robotic arm 3, supporting and guiding the robotic arm 3 to perform smooth and precise horizontal movement. The robotic arm 3 is the core transfer mechanism connecting the anchor chamber 2 and the drill arm 5, automatically retrieving the anchor rod 21 and drill rod 23 from the anchor chamber 2 and precisely transferring them to the designated position in front of the drill box 10. The robotic arm 3 includes a first vertical hydraulic cylinder 18, which can drive the robotic arm 3 to rise and fall. The first vertical hydraulic cylinder 18 is mounted on a latch, the top of which is connected to a horizontal rotation shaft 17. The latch is slidably mounted on the base slide rail 24. The horizontal rotation shaft 17 is connected to a vertical rotation shaft 16, which enables the robotic arm 3 to rotate in both the horizontal and vertical directions. A vertical rotation shaft 16 is connected to a horizontal hydraulic cylinder 15, which in turn is connected to a mechanical housing 14. A second vertical hydraulic cylinder 19 is housed within the mechanical housing 14. An anchor bolt manipulator 20 and a drill rod manipulator 22 are mounted at the bottom of the second vertical hydraulic cylinder 19. The horizontal hydraulic cylinder 15 can move the mechanical housing 14 horizontally, and the second vertical hydraulic cylinder 19 can move the mechanical housing 14 vertically, facilitating the anchor bolt manipulator 20 and the drill rod manipulator 22 in grasping the anchor bolt 21 and the drill rod 23. A drill arm 5 and a manipulator rotation mechanism 8 are mounted at the front of the control box body 1. The drill arm 5 is the direct execution arm for the installation of the drill rod 23 and the anchor bolt 21, supporting and positioning the entire drilling execution mechanism to reach different working positions on the top plate.
[0021] A first locator 6 is installed at the top of the drill arm 5, and a second locator 7 and a connecting shaft 12 are installed in the middle of the drill arm 5. The first locator 6 and the second locator 7, during drilling and installation of the anchor rod 21, press firmly against the working surface, providing stable counter-support for the drill box 10, preventing equipment swaying, and providing positioning for the anchor rod 21 and drill rod 23, ensuring the verticality of the drilling and operational safety. The connecting shaft 12 is movably connected to a high-strength slewing bearing, which is equipped with a lubrication and sealing structure. The end of the connecting shaft 5 is connected to a swing hydraulic cylinder, which can drive the connecting shaft 12 to rotate. The slewing bearing provides support for the connecting shaft 12, allowing the upper section of the drill arm 5 to rotate left and right around the connecting shaft 12 as a swing fulcrum to adjust the horizontal orientation of the drilling hole. This ensures that the drill rod 23 is accurately aligned with the positioning hole after being guided, and that it can withstand the lateral torque generated during drilling, ensuring the rigidity of the drill arm 5. The connecting shaft 12 is equipped with a locking device, which locks the connecting shaft 12 during drilling to prevent the connecting shaft 12 from rotating and affecting the drilling orientation.
[0022] A drill box 10 is installed at the bottom of the drill arm 5. A drill propulsion mechanism 11 is installed inside the drill box 10. The drill box 10 contains a rotary motor and a propulsion mechanism interface. The rotary motor is connected to the drill propulsion mechanism 11 through the propulsion mechanism interface to drive the drill rod 23 to rotate and drill, and subsequently push the anchor rod 21 into the hole. The drill propulsion mechanism 11 is used to provide a strong axial thrust to drive the drill rod 23 to perform drilling operations, and push the anchor rod 21 into the hole after drilling is completed.
[0023] A blow-up device 13 is installed on the drill arm 5 below the first locator 6. The blow-up device 13 adopts an existing structure and stores anchoring agent. The blow-up device 13 is used to inject anchoring agent into the drilled hole. The anchoring agent has excellent bonding properties and can firmly fix the anchor rod 21 to the drill rod 23, providing key anchoring force and preparing for the installation of the anchor rod 21.
[0024] The robotic arm rotation mechanism 8 is mounted on the drill arm 5 near the anchor chamber 2. It receives the anchor rod 21 and drill rod 23 from the robotic arm 3 and, through its own rotation, precisely aligns and transfers them to the working axis of the drill box 10. This is a key transition mechanism for automatic connection. The robotic arm rotation mechanism 8 includes a rotary table, a robotic arm rotation shaft 26, an upper anchor robotic arm 25, and an upper drilling robotic arm 9. The robotic arm rotation shaft 26 is mounted at the rotation center of the robotic arm rotation mechanism 8, and the upper anchor robotic arm 25 and upper drilling robotic arm 9 are mounted side-by-side on the rotary table. The rotation of the robotic arm rotation shaft 26 is achieved using existing technology. The robotic arm rotation shaft 26 is the core driving component of the rotation mechanism, driving the robotic arm rotation mechanism 8 to rotate at precise angles, enabling switching between different work positions. The anchoring robot 25 and the drilling robot 9 grab and temporarily hold the anchor rod 21 or drill rod 23 delivered by the automatic grabbing robot in the receiving position. After rotating to the working position, the anchoring robot 25 and the drilling robot 9 release the rod, and the drilling rig propulsion device takes over the propulsion.
[0025] This invention provides a method for using an integrated drilling and anchoring bolt vehicle, which includes the following steps: S1. Move the anchor bolt vehicle to the work area; S2, the robotic arm 3 transports the anchor bolt 21 and drill rod 23 in the anchor chamber 2 to the anchoring robotic arm 25 and the rod-mounting robotic arm, respectively; The second vertical hydraulic cylinder 19 extends to the anchor chamber 2 position. After the anchor rod manipulator 20 grabs the anchor rod 21, the second vertical hydraulic cylinder 19 retracts. After the horizontal hydraulic cylinder 15 extends, the second vertical hydraulic cylinder 19 extends to the anchor chamber 2 position. The drill rod manipulator 22 grabs the drill rod 23. After the drill rod 23 is grabbed, the second vertical hydraulic cylinder 19 retracts, and the latch moves along the base slide rail 24 towards the drill arm 5. After the manipulator 3 moves to the appropriate position, the vertical rotating shaft 16 rotates 90° in the forward direction. The horizontal rotating shaft 17 rotates the anchor rod 21 and the drill rod 23 to the manipulator rotating mechanism 8. The second vertical hydraulic cylinder 19 extends and sends the anchor rod 21 to the upper anchor manipulator 25 for grabbing. After grabbing, the second vertical hydraulic cylinder 19 retracts. The manipulator rotating shaft 26 rotates 30°. The second vertical hydraulic cylinder 19 extends and sends the drill rod 23 to the upper drilling manipulator 9 for grabbing. The horizontal rotating shaft 17 rotates in the reverse direction back to the initial position.
[0026] S3. Install drill rod 23 to drill holes. After drilling, blow anchoring agent into the drill hole and install anchor rod 21. The robotic arm rotating mechanism 8 rotates forward, driving the drilling robotic arm 9 and the held drill rod 23 to rotate until the drill rod 23 aligns with the installation position of the drill box 10, completing the alignment of the drill rod 23 and the drill box 10. After alignment, the drilling rig propulsion mechanism 11 starts and moves upward until it contacts the lower end of the drill rod 23. At this time, the drilling robotic arm 9 unfolds and releases the drill rod 23, ensuring precise docking between the drill rod 23 and the drilling rig propulsion mechanism 11. After docking, the robotic arm rotating mechanism 8 rotates counterclockwise 30° to avoid the working area of the drilling rig propulsion mechanism 11. The drilling rig propulsion mechanism 11 pushes the drill rod 23 upward through the positioning hole of the first positioning device 6 under the action of the second positioning device 7 to drill. After drilling, the second positioning device 7 unfolds to contact the positioning constraint, and the drilling rig propulsion mechanism 11 moves downward to the initial position. The blow-up upper device 13 starts to deliver the anchoring agent into the borehole. The rotating mechanism 8 rotates 30° clockwise, driving the upper anchoring manipulator 25 and the anchor rod 21 to the drilling position until the anchor rod 21 is aligned with the installation position of the drill box 10, completing the alignment of the anchor rod 21 and the drill box 10. After alignment, the drilling rig propulsion mechanism 11 starts and moves upward until it contacts the lower end of the anchor rod 21. At this time, the upper anchoring manipulator 25 unfolds and releases the anchor rod 21 to ensure that the anchor rod 21 and the drilling rig propulsion mechanism 11 are precisely connected. After the connection is completed, the manipulator rotating mechanism 8 rotates 30° counterclockwise to avoid the working area of the drilling rig propulsion mechanism 11. The drilling rig propulsion mechanism 11 pushes the anchor rod 21 upward through the positioning hole of the first locator 6 under the action of the second locator 7 and enters the drilling hole to connect with the drill rod 23. After the connection is completed, the second locator 7 unfolds the contact positioning constraint, and the drilling rig propulsion mechanism 11 moves downward to the initial position to complete the installation of the anchor rod 21.
[0027] After S4 and anchor bolt 21 are installed, all components are reset and the operation is repeated.
[0028] Therefore, the present invention adopts the above-mentioned integrated drilling and anchoring bolt vehicle and its usage method, in which the operating box body and the anchor chamber are fixedly integrated and installed, improving space utilization and the portability of picking up and placing materials, reducing the operator's frequent operation of picking up and placing materials, reducing labor intensity, improving drilling and anchoring efficiency, and setting up a robotic arm and robotic hand rotation mechanism to realize automatic material grabbing and transfer, and improving automatic continuation capability.
[0029] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.
Claims
1. A drilling and anchoring integrated anchor bolt vehicle, characterized in that: The system includes a control box body, an anchor bin fixedly mounted on the side of the control box body, a base slide rail on the top of the control box body, a robotic arm slidably mounted on the base slide rail, the robotic arm including a first vertical hydraulic cylinder mounted on a buckle, the top of the first vertical hydraulic cylinder connected to a horizontal rotation axis, the horizontal rotation axis connected to the vertical rotation axis, the vertical rotation axis connected to the horizontal hydraulic cylinder, the horizontal hydraulic cylinder connected to the mechanical housing, a second vertical hydraulic cylinder installed inside the mechanical housing, an anchor rod robotic arm and a drill rod robotic arm installed at the bottom of the second vertical hydraulic cylinder, and a drill arm and robotic arm rotation mechanism installed at the front of the control box body.
2. The drilling and anchoring integrated anchor bolt vehicle according to claim 1, characterized in that: The top of the drill arm is equipped with a first positioner, the middle of the drill arm is equipped with a second positioner and a connecting shaft, the connecting shaft is movably connected to the slewing bearing, the slewing bearing is equipped with a lubrication and sealing structure, the end of the connecting shaft is connected to the swing hydraulic cylinder, the connecting shaft is equipped with a locking device, the bottom of the drill arm is equipped with a drill box, and the drill propulsion mechanism is installed inside the drill box.
3. The drilling and anchoring integrated anchor bolt vehicle according to claim 2, characterized in that: An upper blowing device is installed on the drill arm below the first locator, and the upper blowing device stores anchoring agent.
4. The drilling and anchoring integrated anchor bolt vehicle according to claim 3, characterized in that: The drill box contains a rotary motor and a propulsion mechanism interface. The rotary motor is connected to the drilling rig's propulsion mechanism through the propulsion mechanism interface.
5. The drilling and anchoring integrated anchor bolt vehicle according to claim 4, characterized in that: The robotic arm rotation mechanism is installed on the drill arm near the anchor chamber. The robotic arm rotation mechanism includes a rotary disk, a robotic arm rotation shaft, an anchoring robotic arm, and a drilling robotic arm. The robotic arm rotation shaft is installed at the rotation center of the robotic arm rotation mechanism, and the anchoring robotic arm and the drilling robotic arm are installed side by side on the rotary disk.
6. The drilling and anchoring integrated anchor bolt vehicle according to claim 5, characterized in that: The anchor bin stores anchor bolts and drill rods for use; a chassis is mounted on the bottom of the control box, and tracks are installed on both sides of the chassis.
7. A method of using a drill-anchor integrated anchor bolt vehicle, comprising a drill-anchor integrated anchor bolt vehicle provided in any one of claims 1-6, characterized in that: Includes the following steps: S1. Move the anchor bolt vehicle to the work area; S2. The robotic arm transports the anchor bolts and drill rods in the anchor chamber to the anchoring robotic arm and the rod-raising robotic arm, respectively. S3. Install drill rods to drill holes. After drilling, blow anchoring agent into the drill hole and install anchor rods. S4. After the anchor bolts are installed, all components are reset and the operation is repeated.
8. The method of using a drilling and anchoring integrated anchor bolt vehicle according to claim 7, characterized in that: The specific operation in S2 is as follows: the second vertical hydraulic cylinder extends to the anchor chamber position, the anchor rod manipulator grabs the anchor rod, the second vertical hydraulic cylinder retracts, the horizontal hydraulic cylinder extends, the second vertical hydraulic cylinder extends to the anchor chamber position, the drill rod manipulator grabs the drill rod, after the drill rod is grabbed, the second vertical hydraulic cylinder retracts, and the latch moves along the base slide rail towards the drill arm; after the manipulator moves to the appropriate position, the vertical rotation axis rotates 90° in the forward direction, the horizontal rotation axis rotates the anchor rod and drill rod to the manipulator rotation mechanism, the second vertical hydraulic cylinder extends to send the anchor rod to the upper anchor manipulator for grabbing, after the grabbing is completed, the second vertical hydraulic cylinder retracts, the manipulator rotation axis rotates 30°, the second vertical hydraulic cylinder extends to send the drill rod to the upper drilling manipulator for grabbing, and the horizontal rotation axis rotates in the reverse direction back to the initial position.
9. The method of using a drilling and anchoring integrated anchor bolt vehicle according to claim 8, characterized in that: The specific operation in S3 is as follows: The robotic arm rotating mechanism rotates forward, driving the upper drilling robotic arm and the held drill rod to rotate until the drill rod is aligned with the installation position of the drill box, completing the alignment of the drill rod and the drill box. After alignment, the drilling rig propulsion mechanism starts and moves upward until it contacts the lower end of the drill rod. At this time, the upper drilling robotic arm unfolds and releases the drill rod, ensuring precise docking between the drill rod and the drilling rig propulsion mechanism. After docking, the robotic arm rotating mechanism rotates counterclockwise 30° to avoid the working area of the drilling rig propulsion mechanism. The drilling rig propulsion mechanism pushes the drill rod upward through the positioning hole of the first locator under the action of the second locator to perform drilling. After drilling, the second locator unfolds to contact the positioning constraint, the drilling rig propulsion mechanism moves downward to the initial position, and the blowing agent upper device starts to deliver the anchoring agent to... During drilling, the robotic arm rotating mechanism rotates 30° clockwise, moving the upper anchoring robotic arm and anchor rod to the drilling position until the anchor rod is aligned with the installation position of the drill box, completing the alignment of the anchor rod and the drill box. After alignment, the drilling rig propulsion mechanism starts and moves upward until it contacts the lower end of the anchor rod. At this time, the upper anchoring robotic arm unfolds and releases the anchor rod, ensuring precise docking between the anchor rod and the drilling rig propulsion mechanism. After docking, the robotic arm rotating mechanism rotates 30° counterclockwise to avoid the working area of the drilling rig propulsion mechanism. The drilling rig propulsion mechanism pushes the anchor rod upward through the positioning hole of the first locator under the action of the second locator and enters the drilling hole to dock with the drill rod. After docking, the second locator unfolds to contact positioning constraint, and the drilling rig propulsion mechanism moves downward to the initial position, completing the installation of the anchor rod.