Resin pole, anchoring device and jumbo

Abstract

The application discloses a resin rod, an anchoring device and a rock drilling jumbo, and relates to the technical field of anchoring devices, and particularly relates to a resin rod, an anchoring device and a rock drilling jumbo. The resin rod comprises a swelling head, resin coils and a mounting pipe. The mounting pipe internally contains multiple resin coils which are connected in sequence. The swelling head is slidably connected to one end of the mounting pipe and is connected with the resin coils. When the mounting pipe is pulled out of an anchor hole, the resin coils remain in the anchor hole under the action of the swelling head. Thus, the in-situ integrity and reliability of the resin coils under complex or non-ideal drilling conditions are improved, and the accurate positioning and continuous distribution of the resin coils in the anchor hole are facilitated, so that the requirements of anchoring length and filling density of a medium-deep hole are more easily met. In addition, the resin rod has strong versatility, is convenient for standardized production and rapid assembly on site, and reduces the system integration difficulty and engineering application cost while taking into account the construction efficiency and anchoring quality.

Description

Technical Field

[0001] This application relates to the field of engineering machinery technology, and in particular to a resin rod, an anchoring device, and a rock drilling rig. Background Technology

[0002] In tunnel and underground engineering support systems, rock bolt support, as a core component of initial support, plays a decisive role in surrounding rock stability, structural safety, and construction efficiency. Rock bolts achieve effective connection with the surrounding rock through anchoring agents or their own deformation. After applying preload, they exert multiple mechanical effects, such as suspending loose rock blocks, reducing the span of the surrounding rock, and forming a compression reinforcement zone, thereby significantly improving the self-supporting capacity of the surrounding rock. The anchoring effect directly determines the overall performance of the rock bolt support; therefore, achieving efficient, reliable, and simple anchoring construction has become crucial for the development of rock bolt support technology.

[0003] Currently, the commonly used anchoring agents in engineering mainly include two types: cement mortar and resin. Cement mortar anchoring requires material proportioning and mixing on-site. The proportioning is greatly affected by environmental temperature and humidity, construction experience, and specific geological conditions, making it difficult to guarantee consistency and reliability between batches. At the same time, the mortar needs to be transported from the construction equipment to the depth of the borehole through grouting pipelines. The transportation path is long, and problems such as pipe blockage and segregation are prone to occur in complex or tortuous channels, which seriously affect construction efficiency and anchoring quality.

[0004] In contrast, resin anchoring agents are typically shipped in pre-packaged rolls, eliminating the need for on-site mixing. Their material ratios are stable, and they are easy to use, leading to their widespread application in rapid support projects in recent years. However, existing resin anchoring construction methods still have significant shortcomings: One type of construction method is the "direct blowing" or "direct pushing" method, which involves separately feeding the resin anchoring agent into the borehole before inserting the anchor rod. This method requires extremely high cleanliness and straightness of the borehole, and during the pushing or blowing process, the resin roll is easily damaged due to friction and collision, or even falls off midway, resulting in insufficient anchoring length or bonding failure.

[0005] Another construction method is the "anchor bolt-anchoring agent integrated push" method, in which the resin anchoring agent is pre-assembled inside the anchor bolt and pushed into the hole along with the anchor bolt. While this method effectively avoids scratch damage to the anchoring agent during insertion, the amount of anchoring agent that can be accommodated is limited by the internal structural space of the anchor bolt, making it difficult to meet the sufficient anchoring requirements of medium-deep holes (such as those exceeding 3m in length). In addition, the anchoring agent is prone to clogging the outlet inside the bolt, resulting in uneven resin mixing and insufficient curing reaction, which in turn affects the anchoring strength. At the same time, such anchor bolts usually require custom processing, resulting in high manufacturing costs and poor versatility, limiting their widespread application in large-scale projects. Summary of the Invention

[0006] The purpose of this application is to provide a resin rod, anchoring device, and rock drilling rig, which improves the integrity and reliability of resin roll placement under complex or non-ideal drilling conditions, and helps to achieve precise positioning and continuous distribution of resin roll in the anchor hole, making it easier to meet the requirements of medium and deep holes for anchoring length and filling density. In addition, it is highly versatile, facilitates standardized production and rapid on-site assembly, and reduces the difficulty of system integration and engineering application costs while taking into account both construction efficiency and anchoring quality.

[0007] The embodiments of this application can be implemented as follows: In a first aspect, the present invention provides a resin rod, comprising an expansion head, a resin roll, and an installation tube; The mounting tube contains multiple resin rolls connected in sequence, and the expansion head is slidably connected to one end of the mounting tube and connected to the resin rolls. When the installation tube is pulled out of the anchor hole, the resin roll remains in the anchor hole under the action of the expansion head.

[0008] In an optional embodiment, the expansion head includes a sleeve and a reverse thrust section; The sleeve is slidably fitted over the end of the mounting tube and connected to the resin roll; The reverse thrust section is connected to the outer peripheral wall of the sleeve, and a portion of it is inclined toward the other end of the mounting tube.

[0009] In an optional embodiment, the thrust reverser includes a conical body and at least two thrust reversers connected to one end of the conical body; The conical body is connected to the sleeve; Along the direction from one end of the mounting tube to the other, the outer diameter of the tapered body gradually increases, and the radial distance between the thrust plate and the sleeve gradually increases.

[0010] In a second aspect, the present invention provides an anchoring device, including a work position switching shaft, a push rod advancing beam, a switching seat, a rock drilling advancing beam, a tensioning mechanism, a rock drill, and a rod magazine; The rod magazine is used to accommodate anchor bolts and resin rods as described in any of the foregoing embodiments; The workstation switching shaft extends along a preset direction, and the switching seat is fixed on the workstation switching shaft; Both the push rod propulsion beam and the rock drilling propulsion beam are disposed on the switching seat and are spaced apart in the circumferential direction of the work station switching axis; wherein, both the push rod propulsion beam and the rock drilling propulsion beam are capable of sliding along the preset direction; The rock drill is mounted on the rock drilling propulsion beam; the tensioning mechanism is mounted on the push rod propulsion beam and is used to connect or separate from one end of the anchor rod or one end of the installation pipe located at the rod removal position in the rod magazine. The work position switching shaft is rotatable so that one of the working center of the rock drill and the working center of the tensioning mechanism can be switched to the drilling position. Both the rock drill and the tensioning mechanism can slide along the preset direction. When the rock drill is located at the drilling position, it can drill an anchor hole on the rock surface. When the tensioning mechanism is located at the drilling position, it can push the connected anchor rod or resin rod into the anchor hole or pull the installation tube out of the anchor hole.

[0011] In an optional embodiment, the pole storage includes a pole storage shaft, a first support, a second support, a pole storage motor, and a rubber chuck; The first bracket and the second bracket are spaced apart along the preset direction and are relatively fixed; The two ends of the rod storage shaft are rotatably connected to the first bracket and the second bracket, respectively; At least two of the rubber chucks are fixedly sleeved on the rod magazine shaft, and each of the rubber chucks is used to simultaneously accommodate multiple anchor rods and multiple resin rods along its own circumference; The pole storage motor is connected to the pole storage shaft and is used to drive the pole storage shaft to rotate so that any anchor rod or resin rod can be rotated to the pole retrieval position.

[0012] In an optional embodiment, the rod magazine further includes a proximity switch assembly, which includes a detection element and a sensing element, one of which is fixed to the rod magazine pivot, and the other is fixed to the first bracket or the second bracket. The detection element is used to detect the position information of the sensing element, and the rod magazine motor is used to drive the rod magazine shaft to rotate according to the position information, so that any anchor rod or resin rod is rotated to the rod retrieval position.

[0013] In an optional embodiment, the rubber chuck is provided with a plurality of slots along its circumference; Of the two adjacent slots in the circumferential direction, one slot is for inserting an anchor rod and the other slot is for inserting a resin rod.

[0014] In an optional embodiment, the anchoring device further includes a recovery basket and a robotic arm; The robotic arm is fixed to the push rod advancing beam and is used to grab or release the mounting tube located at the rod taking position or the drilling position; The recovery basket is fixed to the switching seat and located between the push rod propulsion beam and the rock drilling propulsion beam. The recovery basket is used to store the installation tube that has been released by the robotic arm and is located at the drilling position.

[0015] In an optional embodiment, the robotic arm includes a mounting base, a robotic arm motor, a swing arm, a gripper drive, and grippers; The mounting base is fixed to the push rod advancing beam; The robotic arm motor is fixed to the mounting base and connected to one end of the swing arm. The robotic arm motor is used to drive the swing arm to rotate, and the rotation axis of the swing arm is parallel to the preset direction. The gripper drive is fixed to the other end of the swing arm and connected to the gripper, and is used to drive the gripper to open or close to grasp or release the installation tube.

[0016] In an optional embodiment, the gripper drive includes a gripper motor, a gear cover, a drive gear, a driven gear, and a bearing; The gripper motor is fixed to the rocker arm and connected to the drive gear. The gripper motor is used to drive the drive gear to rotate, and the rotation axis of the drive gear is parallel to the preset direction. The rocker arm has a mounting shaft extending along the preset direction, and the inner ring of the bearing is fixedly fitted onto the mounting shaft; The driven gear is fixedly mounted on the outer ring of the bearing and meshes with the driving gear; The gear cover is fixed to the rocker arm and covers the driving gear, the driven gear, and the bearing; The gripper includes an active gripper and a driven gripper. The active gripper is connected to the active gear, and the driven gripper is connected to the driven gear.

[0017] In an optional embodiment, the robotic arm further includes a first limiting member and a second limiting member, both of which are mounted on the mounting base and located on opposite sides of the swing arm. When the swing arm contacts the first limiting member, the gripper is used to grasp or release the mounting tube located at the rod removal position; When the swing arm contacts the second limiting member, the gripper is used to grasp or release the mounting tube located at the drilling position; The contact positions of the first limiting member and the second limiting member with the swing arm are both adjustable.

[0018] In an optional embodiment, the recycling basket includes a support rod, a baffle, a limiting frame, and a movable plate; The support rod extends along the preset direction and is fixed to the switching seat; The limiting frame is fixed to the support rod and is used to limit the movement from both sides of the mounting tube; The baffle is fixed to one end of the support rod and is used to stop one end of the mounting tube. The movable plate is rotatably connected to the other end of the support rod, used to stop the other end of the mounting tube or to avoid the mounting tube. The robotic arm is used to place the installation tube located at the drilling position into the limiting frame.

[0019] In an optional embodiment, the recycling basket further includes a hinge and a latch, the movable plate being connected to the support rod via the hinge, and the latch being fixed to the support rod and engaging or disengaging with the movable plate, so that the movable plate is fixed at the position of the stop mounting tube or avoids the mounting tube.

[0020] In an optional embodiment, the limiting frame includes an interceptor, a torsion spring, and a limiting plate; The two interceptors are fixed to the support rod and face each other in the circumferential direction of the support rod, with the space between the two interceptors used to store the installation tube; A limit plate is installed on a section of the interceptor away from the support rod via the torsion spring; The two limiting plates are directly opposite each other in the circumferential direction of the support rod; Under the action of the torsion spring, the limiting plate tends to rotate toward the support rod.

[0021] In an optional embodiment, the middle of the interceptor is bent, wherein the bending direction of the interceptor is toward the push rod propulsion beam, and the end of the interceptor away from the support rod is inclined toward the push rod propulsion beam; And / or, The distance between the two interceptors is greater than the outer diameter of the mounting tube but less than twice the outer diameter of the mounting tube.

[0022] Thirdly, the present invention provides a rock drilling rig, including a frame and an anchoring device as described in any of the foregoing embodiments disposed on the frame.

[0023] The beneficial effects of the embodiments of this application include, for example: Firstly, because the expansion head and the installation tube are in a sliding connection, during the pushing process into the anchor hole, the expansion head is pushed towards the bottom of the anchor hole by the installation tube, allowing the entire resin rod to be smoothly pushed into the anchor hole as a whole. This method overcomes the problem that the resin roll is easily damaged or falls off midway due to friction and collision when inserted into the hole individually in the traditional "direct blowing" or "direct pushing" process, improving the positioning integrity and reliability of the resin roll under complex or non-ideal drilling conditions.

[0024] Secondly, as the installation tube is pushed forward and begins to retract, the expansion head creates local resistance due to the squeezing contact with the inner wall of the anchor hole, keeping it relatively stationary without external force. Simultaneously, relative movement occurs between the installation tube and the expansion head, causing them to gradually separate. The entire installation tube then exits the anchor hole, while the multiple continuously connected resin rolls contained inside the installation tube remain stably retained within the anchor hole under the restraining effect of the expansion head. This mechanism facilitates precise positioning and continuous distribution of the resin rolls within the anchor hole, making it easier to meet the requirements for anchorage length and filling density in medium-deep holes. It demonstrates greater adaptability in ensuring sufficient anchorage range and creates favorable conditions for subsequent anchor insertion and thorough mixing and uniform curing of the resin, thereby improving the overall bonding performance and mechanical response consistency of the anchorage interface.

[0025] Furthermore, this resin rod structure requires no special modification or custom processing of the anchor rod itself, is highly versatile, facilitates standardized production and rapid on-site assembly, and reduces the difficulty of system integration and engineering application costs while balancing construction efficiency and anchoring quality. It provides a feasible path for the large-scale and efficient implementation of resin anchoring technology in tunnels and underground engineering. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0027] Figure 1 This is a partial schematic diagram of the resin rod according to an embodiment of this application; Figure 2 To be Figure 1 A schematic diagram showing the installation tube after separation from the expansion head; Figure 3 This is a schematic diagram of the anchoring device according to an embodiment of this application; Figure 4 for Figure 3 Side view; Figure 5 for Figure 3 Side view of the central pole storage unit; Figure 6 for Figure 3 One of the schematic diagrams of a robotic arm; Figure 7 for Figure 3 The second schematic diagram of the robotic arm; Figure 8 This is a schematic diagram of the gripper in the tightened state; Figure 9This is a schematic diagram of the grippers in the open state; Figure 10 for Figure 3 A schematic diagram of a portion of the structure of the recycling basket; Figure 11 for Figure 3 One of the schematic diagrams of another part of the structure of the middle recovery basket; Figure 12 for Figure 3 The second schematic diagram of another part of the structure of the middle recovery basket; Figure 13 for Figure 3 Side view after flipping; Figure 14 for Figure 3 A 3D view of the resin rod being connected to the tensioning mechanism via a robotic arm; Figure 15 for Figure 14 Side view; Figure 16 This is a schematic diagram showing the working center of the tensioning mechanism coinciding with the drilling location; Figure 17 for Figure 16 Side view.

[0028] Icons: 1-Rubber chuck; 101-Chuck slot; 2-First bracket; 3-Anchor bolt; 4-Resin rod; 401-Expanding head; 402-Installation tube; 403-Resin roll; 404-Sleeve; 405-Conical body; 406-Thrust plate; 5-Rod magazine shaft; 6-Manipulator; 601-Mounting base; 602-First limiter; 603-Second limiter; 604-Manipulator motor; 605-Swing rod; 606-Gripper motor; 607-Driven gripper; 608-Driving gripper; 609-Gear cover; 610-Driving gear; 611-Driven gear; 612-Bearing; 613-First stop 614-Second stop; 7-Proximity switch assembly; 8-Second bracket; 9-Rod motor; 10-Tensioning mechanism; 11-Rock drill; 12-Recovery basket; 1201-First support rod; 1202-Limit frame; 1203-Second support rod; 1204-Moving plate; 1205-Hinge; 1206-Snap fastener; 1207-Interception frame; 1208-Limit plate; 1209-Baffle; 13-Push rod propulsion beam; 14-First switching seat; 15-Rock drilling propulsion beam; 16-Second switching seat; 17-Workstation switching shaft; 18-Front end clamp; A-Rod removal position; B-Drilling position. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are some embodiments of this application, but not all embodiments.

[0030] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0031] Where there is no conflict, the following embodiments and features can be combined with each other.

[0032] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "set," "install," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0033] refer to Figure 1 and Figure 2 This application discloses a resin rod 4, which includes an expansion head 401, a resin roll 403 and an installation tube 402; The mounting tube 402 contains multiple resin rolls 403 connected in sequence. The expansion head 401 is slidably connected to one end of the mounting tube 402 and connected to the resin rolls 403. When the installation tube 402 is pulled out of the anchor hole, the resin roll 403 remains in the anchor hole under the action of the expansion head 401.

[0034] In this way, firstly, since the expansion head 401 and the mounting tube 402 are in a sliding connection, during the pushing process into the anchor hole, the expansion head 401 is pushed towards the bottom of the anchor hole by the mounting tube 402, allowing the entire resin rod 4 to be smoothly pushed into the anchor hole as a whole. This method overcomes the problem that the resin roll 403 is easily damaged or falls off midway due to friction and collision when inserted into the hole individually in the traditional "direct blowing" or "direct pushing" process, and improves the positioning integrity and reliability of the resin roll 403 under complex or non-ideal drilling conditions.

[0035] Secondly, as the installation tube 402 completes its push and begins to retract, the expansion head 401 creates local resistance due to its squeezing contact with the inner wall of the anchor hole, keeping it relatively stationary without external force. Simultaneously, relative movement occurs between the installation tube 402 and the expansion head 401, causing them to gradually separate. The installation tube 402 then exits the anchor hole, while the multiple continuously connected resin rolls 403 contained inside the installation tube 402 remain stably retained within the anchor hole under the restraining effect of the expansion head 401. This mechanism facilitates precise positioning and continuous distribution of the resin rolls 403 within the anchor hole, making it easier to meet the requirements of medium-deep holes for anchorage length and filling density. It demonstrates stronger adaptability in ensuring sufficient anchorage range and creates favorable conditions for subsequent insertion of the anchor rod 3 and thorough mixing and uniform curing of the resin, thereby improving the overall bonding performance and mechanical response consistency of the anchorage interface.

[0036] Furthermore, the resin rod 4 structure does not require special modification or custom processing of the anchor rod 3 itself, has strong versatility, facilitates standardized production and rapid on-site assembly, and reduces the difficulty of system integration and engineering application costs while taking into account both construction efficiency and anchoring quality. This provides a feasible path for the large-scale and efficient implementation of resin anchoring technology in tunnels and underground engineering.

[0037] In detail, the riser 401 includes a sleeve 404 and a thrust section; The sleeve 404 is slidably fitted over the end of the mounting tube 402 and connected to the resin roll 403; The reverse thrust section is connected to the outer peripheral wall of the sleeve 404, and a portion of it is inclined toward the other end of the mounting tube 402.

[0038] In this way, as the resin rod 4 is pushed into the anchor hole as a whole, the installation tube 402 applies an axial thrust to the sleeve 404, causing the expansion head 401 and the connected resin roll 403 to move forward synchronously. Since the inclination direction of the thrusting part is opposite to the pushing direction, the frictional resistance generated when it contacts the hole wall during the pushing stage is small, which helps to reduce insertion resistance and improve pushing smoothness.

[0039] Once the resin rod 4 is fully in place, the installation tube 402 begins to retract. At this time, the sleeve 404, connected to the resin roll 403, tends to withdraw with the tube. However, the thrust portion, due to its geometric feature of being inclined towards the tail end of the installation tube 402, forms a "barb" effect when it contacts the inner wall of the anchor hole—that is, the thrust portion will further embed or press against the hole wall when subjected to a reverse pulling force, generating significant axial resistance. This resistance makes it difficult for the sleeve 404 and the resin roll 403 connected to it to withdraw together with the installation tube 402, thereby ensuring reliable retention of the resin roll 403 in the anchor hole during the withdrawal of the installation tube 402.

[0040] This unidirectional anchoring effect, formed by the geometry of the thrust section, eliminates the need for external locking mechanisms or complex triggering devices. The resin roll 403 is positioned and retained solely through the interaction between the structure itself and the surrounding rock. On one hand, this improves the continuity and positioning accuracy of the resin roll 403 distribution under medium-deep hole conditions; on the other hand, it avoids the problems of limited resin filling and uneven mixing caused by the narrow internal channels of traditional integrated anchor bolts 3.

[0041] Furthermore, since the expansion head 401 is a modular component independent of the anchor rod 3, and the installation pipe 402 can use general-purpose pipes, the entire system does not require customized opening or built-in cavity design for the anchor rod 3 during manufacturing, which reduces processing complexity and cost, while enhancing adaptability to different geological conditions and engineering needs.

[0042] Optionally, the thrust reverser includes a conical body 405 and at least two thrust reverser plates 406 connected to one end of the conical body 405; The conical body 405 is connected to the sleeve 404; Along the direction from one end of the mounting tube 402 to the other, the outer diameter of the tapered body 405 gradually increases, and the radial distance between the thrust plate 406 and the sleeve 404 gradually increases (that is, the radial position of the thrust plate 406 relative to the sleeve 404 gradually expands outward).

[0043] Therefore, the resin rod 4 exhibits good guiding and low resistance characteristics during the pushing stage into the hole. Due to the small diameter of the front end of the tapered body 405 (the end away from the mounting tube 402, i.e., the end closer to the anchor hole) and the swept-back distribution of the thrust plates 406, the expansion head 401 can be effectively guided to pass smoothly through the hole during the pushing process, reducing scraping or jamming with the hole wall. It is especially suitable for drilling environments with slight bends, uneven hole walls, or debris residue.

[0044] As the installation tube 402 begins to retract, the thrust plate 406, due to its outward tilt and arrangement away from the sleeve 404, forms a larger contact angle and a greater tendency to embed itself into the inner wall of the anchor hole under the action of reverse tension. At this time, the thrust plate 406, due to its geometric unfolding shape, produces a significant "wedge" effect at the hole wall, increasing local frictional resistance and even inducing minor plastic deformation, thereby effectively preventing the entire expansion head 401 from exiting along with the installation tube 402. This unidirectional anchoring mechanism, formed by the synergistic action of the conical body 405 and the thrust plate 406, allows the resin roll 403 to be stably retained within a predetermined depth range during the withdrawal of the installation tube 402, contributing to continuous coverage and uniform distribution of the anchoring section.

[0045] In addition, the separate layout of multiple thrust plates 406 not only improves the adaptability of the expansion head 401 under different aperture or irregular aperture conditions, but also disperses local stress concentration and reduces the risk of single structure failure.

[0046] This application also discloses a rock drilling rig, including a frame and an anchoring device mounted on the frame. (Reference) Figure 3 and Figure 4 The anchoring device includes a station switching shaft 17, a push rod propulsion beam 13, a switching seat, a rock drilling propulsion beam 15, a tensioning mechanism 10, a rock drill 11, and a rod magazine; The rod magazine and the work position switching shaft 17 are installed in parallel on the rock drilling rig. The rod magazine is used to hold the anchor rod 3 and the aforementioned resin rod 4. The workstation switching shaft 17 extends along a preset direction, and the switching seat is fixed on the workstation switching shaft 17; Both the push rod propulsion beam 13 and the rock drilling propulsion beam 15 are mounted on the switching seat and are spaced apart in the circumferential direction of the work station switching shaft 17; both the push rod propulsion beam 13 and the rock drilling propulsion beam 15 can slide along a preset direction. The rock drill 11 is mounted on the rock drilling propulsion beam 15; the tensioning mechanism 10 is mounted on the push rod propulsion beam 13 and is used to connect (e.g., threaded connection) or separate from one end of the anchor rod 3 located at the rod removal position A in the rod magazine. The work position switching shaft 17 can rotate to switch one of the working center of the rock drill 11 and the working center of the tensioning mechanism 10 to the drilling position B. Both the rock drill 11 and the tensioning mechanism 10 can slide in a preset direction. When the rock drill 11 is in the drilling position B, it can drill an anchor hole on the rock surface. When the tensioning mechanism 10 is in the drilling position B, it can push the connected anchor rod 3 or resin rod 4 into the anchor hole or pull the installation tube 402 out of the anchor hole.

[0047] In this way, the anchor rod 3 stored in the rod storage compartment and the resin rod 4 with the aforementioned integrated structure of expansion head 401, resin roll 403, and installation tube 402 provide material support for continuous operation. The station switching shaft 17 extends along a preset direction (i.e., the anchor hole axis), and the switching seat is fixed on it; the push rod propulsion beam 13 and the rock drilling propulsion beam 15 are both installed on the switching seat and are arranged at intervals in the circumferential direction of the station switching shaft 17. Both can slide independently along the preset direction to achieve decoupled control of the propulsion action.

[0048] The rock drill 11 is slidably mounted on the rock drilling propulsion beam 15 for drilling operations; the tensioning mechanism 10 is slidably mounted on the push rod propulsion beam 13 and can be detachably connected to the end of the anchor rod 3 or resin rod 4. The position switching shaft 17 can rotate around its own axis, thereby driving the switching seat and its two propulsion systems to rotate as a whole, allowing either the working center of the rock drill 11 or the working center of the tensioning mechanism 10 to be aligned with the same drilling position B. This coaxial, shared-position position switching mechanism ensures a high degree of overlap between the drilling center and the subsequent anchoring operation center, reducing alignment deviations caused by equipment repositioning and improving the geometric accuracy and mechanical consistency of medium-deep hole anchoring.

[0049] In the specific operation process, after the position switching shaft 17 rotates the rock drill 11 to the drilling position B, the rock drill 11 feeds along the preset direction and drills an anchor hole of the required depth and diameter in the rock mass. Subsequently, the position switching shaft 17 rotates, so that the working center of the tensioning mechanism 10 is connected to the installation tube 402 of the resin rod 4 located at the rod removal position A in the rod magazine. Then, the position switching shaft 17 rotates a certain angle so that the tensioning mechanism 10 is aligned with the drilling position B. At this time, the tensioning mechanism 10 pushes the resin rod 4 into the anchor hole along the preset direction to reach the designed depth. After the resin roll 403 is placed in the anchor hole under the action of the expansion head 401, the tensioning mechanism 10 retracts in the opposite direction to realize the extraction of the installation tube 402. Afterwards, the tensioning mechanism 10 changes the connection object, connects the anchor rod 3 located at the rod removal position A in the rod magazine, and pushes the anchor rod 3 into the anchor hole where the resin roll 403 has been laid from the drilling position B, completing the insertion and subsequent tensioning.

[0050] This device integrates previously scattered and manually-dependent steps such as drilling, resin application, and rod installation onto a single work platform through mechanical linkage and workstation reuse. This significantly shortens process connection time and reduces reliance on operator experience. Especially for medium-deep holes (e.g., over 3m), traditional methods often suffer from difficulties in transporting resin roll 403, inaccurate positioning, or discontinuous filling, affecting anchoring effectiveness. However, this device, in conjunction with the aforementioned resin rod 4 structure, can complete the entire automated operation with precise alignment in a single step. This ensures that the resin roll 403 is continuously and completely deployed throughout the anchor hole, providing systematic support for achieving highly reliable full-length bonded anchoring.

[0051] Furthermore, since the anchor rod 3 and the resin rod 4 are stored and assembled separately, there is no need to customize a special anchor rod 3 with an internal cavity. This not only retains the versatility of the standard anchor rod 3, but also takes into account the need for efficient application of the resin anchoring agent, reducing material costs and supply chain complexity.

[0052] The number of switching seats is two (i.e., the first switching seat 14 and the second switching seat 16), which together support the push rod propulsion beam 13 and the rock drilling propulsion beam 15. They are adapted to the length of their extension along the preset direction, and can form two or more points of support for each propulsion beam, effectively constraining its degree of freedom in the perpendicular direction, suppressing bending and swaying, and improving the rigidity and operational stability of the overall structure.

[0053] In detail, the pole storage includes a pole storage shaft 5, a first support 2, a second support 8, a pole storage motor 9, and a rubber chuck 1; The first support 2 and the second support 8 are distributed at intervals along a preset direction and are relatively fixed (i.e., both are used to fix on the frame of the rock drilling rig) as the support frame of the rod library. The two ends of the rod holder shaft 5 are rotatably connected to the first support 2 and the second support 8 respectively, forming a stable rotation axis; At least two rubber chucks 1 are fixedly sleeved on the pole magazine shaft 5 and distributed along the shaft axis to form a multi-station pole bearing unit. Each rubber chuck 1 is used to simultaneously accommodate multiple anchor rods 3 and multiple resin rods 4 along its own circumference. Due to the good elasticity and friction properties of the rubber material, the chuck can provide sufficient clamping force to prevent slippage when clamping the rods, and can also avoid damage to the surface of the rods (especially the outer wall of the resin rod 4 and the installation tube 402). Moreover, multiple rubber chucks 1 rotate synchronously with the rod magazine shaft 5, so that each anchor rod 3 and resin rod 4 held by them move synchronously in the circumferential direction, ensuring that any rod remains parallel to the axis and has the same posture during rotation, which is convenient for the subsequent robot arm 6 or tensioning mechanism 10 to grasp accurately.

[0054] The rod holder motor 9 is connected to the rod holder rotating shaft 5 (e.g., via gears, synchronous belts, or direct drive) to drive the rotating shaft 5 to rotate any anchor rod 3 or resin rod 4 to the rod retrieval position A. For example, the rotating shaft can be precisely driven to rotate a specific angle according to the control system instructions, thereby automatically transferring the required type of rod (anchor rod 3 or resin rod 4) to the preset "rod retrieval position A", ensuring that the tensioning mechanism 10 can be quickly connected to the rod after the workstation switch.

[0055] Optionally, the lever storage also includes a proximity switch assembly 7, which includes a detection element and a sensing element. One of the detection element and the sensing element is fixed to the lever storage shaft 5, and the other is fixed to the first bracket 2 or the second bracket 8. The detection element is used to detect the position information of the sensing element, and the rod magazine motor 9 is used to drive the rod magazine shaft 5 to rotate according to the position information, so that any anchor rod 3 or resin rod 4 is rotated to the rod retrieval position A.

[0056] In this way, during the operation of the rod magazine, as the rotating shaft 5 of the rod magazine rotates, the detection element and the sensing element periodically approach or align, thereby generating a position feedback signal. This signal is transmitted to the control system to identify in real time the circumferential angular position of the rods (anchor rods 3 or resin rods 4) currently held on each rubber chuck 1. Based on this position information, the control system can accurately determine which rod is located at the preset "rod picking position A" and send a command to the rod magazine motor 9 to drive the rotating shaft 5 of the rod magazine to rotate a specific angle, ensuring that the target rod is accurately aligned with the gripping position of the tensioning mechanism 10.

[0057] It should be noted that deep hole resin anchoring usually follows the operation sequence of "first pushing the resin rod 4 to complete the anchoring agent placement, and then inserting the anchor rod 3 to achieve tension support".

[0058] Therefore, refer to Figure 5 The rubber chuck 1 has multiple slots 101 along its circumference. In two adjacent slots 101, one slot 101 is used to hold an anchor rod 3, and the other slot 101 is used to hold a resin rod 4. This alternating arrangement forms a periodic loading sequence of "anchor rod 3 - resin rod 4 - anchor rod 3 - resin rod 4...", enabling the same rubber chuck 1 to simultaneously and orderly store two rods with different functions.

[0059] In this way, by arranging the anchor rod 3 and resin rod 4 alternately in the circumferential direction on the chuck, the system can naturally achieve the sequential supply of the two types of rods during continuous rotation feeding, without the need to switch the chuck or refill midway, which significantly improves the smoothness of process connection and the reliability of automated execution.

[0060] In addition, the rubber groove 101 itself has good elastic deformation ability. When alternating clamping rods with different outer diameters or surface characteristics, it can still provide a stable and gentle constraint force, which not only prevents the rod from falling off during rotation or vibration, but also avoids damage to the installation tube 402 or the thread of the anchor rod 3 caused by rigid clamping, thus ensuring the integrity of key components and the quality of subsequent anchoring.

[0061] Optionally, continue to refer to Figure 3 The anchoring device also includes a recovery basket 12 and a robotic arm 6; The robotic arm 6 is fixed to the push rod advancing beam 13 and can move synchronously with the push rod advancing beam 13 along a preset direction. The robotic arm 6 is used to grab or release the installation tube 402 located at the rod removal position A or the drilling position B. The recovery basket 12 is fixed to the switching seat and located between the push rod propulsion beam 13 and the rock drilling propulsion beam 15. The recovery basket 12 is used to store the installation tube 402 that has been released by the robot arm 6 and is in the drilling position B.

[0062] Therefore, after the resin rod 4 is pushed and the installation tube 402 is pulled out, the installation tube 402 is brought to the vicinity of the drilling position B. At this time, the robot arm 6 can intervene in time to clamp the installation tube 402. Subsequently, during the retraction of the push rod advancing beam 13, the robot arm 6 transfers the installation tube 402 to the area where the recovery basket 12 is located and releases it into the basket. In this way, the installation tube 402 can be collected in an orderly manner after exiting the anchor hole, reducing its random scattering in the working area and helping to maintain the cleanliness of the working space at the front of the equipment. At the same time, since the removal of the installation tube 402 is completed automatically by the robot arm 6, the dependence on manual intervention is reduced, making the connection between drilling, resin rod 4 placement, and anchor rod 3 insertion processes smoother. In addition, the position of the recovery basket 12 is between the two pushing beams on the switching seat, which not only makes full use of the idle space inside the structure, but also ensures that there is no movement interference with the rock drill 11 or tensioning mechanism 10 during the work position switching process, ensuring the stability of multi-work position collaborative operation.

[0063] Furthermore, if the installation tube 402 is designed to be reusable, this recycling mechanism can also facilitate its subsequent centralized processing, helping to improve material utilization efficiency. Overall, the introduction of the recycling basket 12 and the robotic arm 6 enables the device to perform its core anchoring function while also ensuring the automation continuity of the construction process and the standardization of on-site management, further enhancing the practicality and adaptability of the anchoring system in medium-deep hole engineering applications.

[0064] The number of robotic arms 6 can be configured to be two, which can jointly grasp the same mounting tube 402, thereby creating a synergistic enhancement effect in terms of structural stress, attitude control and operational reliability.

[0065] For details, please refer to Figures 6 to 9 The robotic arm 6 includes a mounting base 601, a robotic arm motor 604, a swing arm 605, a gripper drive component, and grippers; Mounting base 601 is fixed to push rod advance beam 13; The robotic arm motor 604 is fixed to the mounting base 601 and connected to one end of the swing arm 605. The robotic arm motor 604 is used to drive the swing arm 605 to rotate, and the rotation axis of the swing arm 605 is parallel to the preset direction. The gripper drive is fixed to the other end of the swing arm 605 and connected to the gripper, and is used to drive the gripper to open or close in order to grab or release the mounting tube 402.

[0066] In this way, the mounting base 601 is fixed on the push rod advance beam 13, and the robot arm 6 can move synchronously with the push rod advance beam 13 along the preset direction (i.e., the drilling axis), so that it can arrive at the work area in time after the mounting tube 402 is pulled away to the drilling position B, without the need to set up an additional independent feeding mechanism.

[0067] Based on this, the robotic arm motor 604 is fixed to the mounting base 601 and drives the swing arm 605 to rotate around an axis parallel to a preset direction, allowing the swing arm 605 to swing in a plane perpendicular to the drilling axis. This rotational freedom allows the gripper to adjust its angle according to the actual posture or slight offset of the mounting tube 402 at the anchor hole opening, thereby more closely enveloping the outer periphery of the mounting tube 402.

[0068] Furthermore, the gripper drive is fixed to the end of the swing arm 605 away from the motor and connected to the gripper to control its opening or closing. When the gripper closes, it can securely hold the installation tube 402; after the transfer is completed, the gripper is released above the recycling basket 12 to achieve automatic placement of the installation tube 402. Since the gripper's movement is independently controlled by a dedicated drive, its opening and closing state can be decoupled from the swing of the swing arm 605 and the sliding of the push rod propulsion beam 13, supporting multi-stage coordinated operation.

[0069] Therefore, after the installation tube 402 is pulled out of the anchor hole, the robotic arm 6 can achieve adaptive positioning and reliable gripping of the installation tube 402 through a combination of axial feeding, lateral swinging, and clamping actions. Subsequently, during the retraction of the push rod advancing beam 13, the angle adjustment of the swing arm 605 precisely sends the installation tube 402 into the recovery basket 12 located on the switching seat. The entire process is completed using the existing propulsion mechanism without introducing redundant moving parts, which not only improves the space utilization efficiency of the equipment but also ensures the consistency of the recovery action with the main operation process.

[0070] Optionally, the gripper drive includes a gripper motor 606, a gear cover 609, a drive gear 610, a driven gear 611, and a bearing 612; The gripper motor 606 is fixed to the rocker arm 605 and connected to the drive gear 610. The gripper motor 606 is used to drive the drive gear 610 to rotate, and the rotation axis of the drive gear 610 is parallel to the preset direction. The rocker arm 605 has a mounting shaft extending in a preset direction, and the inner ring of the bearing 612 is fixedly mounted on the mounting shaft; The driven gear 611 is fixedly mounted on the outer ring of the bearing 612 and meshes with the driving gear 610; The gear cover 609 is fixed to the rocker arm 605 and covers the driving gear 610, the driven gear 611 and the bearing 612; The gripper includes a driving gripper 608 and a driven gripper 607. The driving gripper 608 is connected to the driving gear 610, and the driven gripper 607 is connected to the driven gear 611.

[0071] Therefore, when the gear pair rotates, the driving pawl 608 and the driven pawl 607 move synchronously towards or away from each other around the mounting shaft, completing the tightening or opening action of the grippers. This symmetrical opening and closing mechanism ensures that the forces acting on both sides of the mounting tube 402 are basically balanced during the clamping process, which helps to reduce slippage or damage caused by eccentric clamping.

[0072] The gear cover 609 is fixed to the rocker arm 605 and covers the entire gear transmission system and bearing 612. On the one hand, it provides physical protection for the internal transmission components and reduces wear or jamming caused by dust, debris or moisture intrusion in the tunnel environment; on the other hand, it also serves to constrain the lubricating medium and extend the transmission life.

[0073] Optionally, the robotic arm 6 also includes a first limiting member 602 and a second limiting member 603; the first limiting member 602 and the second limiting member 603 are both mounted on the mounting base 601 and are located on both sides of the swing arm 605 respectively; When the swing arm 605 contacts the first limiting member 602, the gripper is used to grab or release the mounting tube 402 located at the arm removal position A; When the rocker arm 605 contacts the second limiting member 603, the gripper is used to grab or release the mounting tube 402 located at the drilling position B; The positions of the first limiting member 602 and the second limiting member 603 are both adjustable.

[0074] In this way, when the swing arm 605 swings to one side under the drive of the robotic arm motor 604 and contacts the first limiting member 602, the gripper is positioned to the spatial coordinates corresponding to the rod retrieval position A. At this time, the mounting tube 402, which has been rotated into position in the rod magazine, can be gripped or released. When the swing arm 605 swings to the other side and contacts the second limiting member 603, the gripper is guided to an alignment with the "drilling position B" to grip the mounting tube 402 that has been temporarily left in the borehole area after being pulled out of the anchor hole. Since there is a certain lateral offset between the rod retrieval position A and the drilling position B in space (usually distributed circumferentially along the station switching axis 17), the gripper needs to adjust its axial direction by swinging to achieve precise docking. The presence of the limiting member ensures the consistency of the endpoint of each swing and avoids positioning deviation due to overshoot or rebound.

[0075] Therefore, the swing range of the lever 605 is limited to two defined and stable operating angles, enabling the gripper to achieve highly repeatable spatial positioning in both "lever picking" and "tube retraction" task modes. This not only simplifies the control logic—reliable station switching can be achieved without relying on high-precision angle encoders or closed-loop feedback—but also enhances the operational stability of the robot 6 in harsh tunnel environments such as dust and vibration. Simultaneously, the limiting structure itself has mechanical self-locking characteristics, which can share some of the reaction force during gripping, reducing the continuous load on the robot motor 604 and extending the lifespan of the drive components.

[0076] It is worth noting that the positions of the first limiting member 602 and the second limiting member 603 are adjustable, and the corresponding contact positions of the first limiting member 602 and the second limiting member 603 with the swing arm 605 are also adjustable (e.g., by adjusting the thread, fixing the slide groove, or adding or removing shims), thereby adjusting the swing range of the swing arm 605 so that the final posture of the gripper in the two work positions can be finely adjusted according to the actual equipment assembly error, changes in the rod size, or the on-site working conditions.

[0077] For example, both the first limiting member 602 and the second limiting member 603 are bolts, and therefore both are threadedly connected to the mounting base 601; this design transforms the adjustment of the limiting position into an intuitive and convenient mechanical operation. Since the bolts can be screwed into or out of the mounting base 601 along their axial direction, the contact point between their ends and the swing arm 605 moves linearly within the swing plane, thereby precisely controlling the stopping angle of the swing arm 605 at its extreme positions on both sides.

[0078] When adapting to different working conditions—for example, replacing the mounting tube 402 with a slightly different outer diameter, compensating for mechanism clearance caused by long-term use, or addressing a slight offset in the drilling position B on site—the operator only needs to rotate and fine-tune the limit bolts on the corresponding side to change the final pointing angle of the gripper in "rod-taking position A" or "drilling position B". This adjustment process does not require disassembling parts, does not rely on external measuring instruments, and does not involve resetting control system parameters, significantly reducing the threshold for on-site maintenance and debugging.

[0079] Moreover, threaded connections have self-locking properties, which can maintain the set position stable under normal equipment vibration conditions and prevent the limit point from drifting during operation; furthermore, bolt structures are low in cost, highly versatile, and easy to replace, which is conducive to long-term operation and maintenance and spare parts management of equipment.

[0080] Optionally, the part of the rocker arm 605 that is connected to the robotic arm motor 604 is provided with a radially protruding first stop 613 and a second stop 614; The first stop portion 613 is used to contact the first limiting member 602; The second stop 614 is used to contact the second limiting member 603.

[0081] In this way, when the robotic arm motor 604 drives the swing arm 605 to swing towards the rod-picking position A, the first stop 613 first contacts the first limiting member 602 (such as an adjustable bolt), restricting the swing arm 605 from continuing to rotate, thereby precisely positioning the gripper at the corresponding rod-picking position in the rod magazine. Conversely, when the swing arm 605 swings towards the drilling position B, the second stop 614 contacts the second limiting member 603, achieving precise positioning of the retrieval position. Since the stop is a radially protruding structure, its contact surface with the limiting member can be designed as a flat or curved surface, which helps to disperse impact loads, reduce local wear, and extend the service life of the mechanism.

[0082] For details, please refer to Figures 10 to 12 The recycling basket 12 includes a support rod, a baffle 1209, a limiting frame 1202, and a movable plate 1204; The support rod extends along a preset direction and is fixed to the switching seat; The limiting frame 1202 is fixed to the support rod and is used to limit the movement from both sides of the mounting tube 402; The baffle 1209 is fixed to one end of the support rod and is used to stop one end of the mounting tube 402; The movable plate 1204 is rotatably connected to the other end of the support rod, used to stop the other end of the mounting tube 402 or to avoid the mounting tube 402; The robotic arm 6 is used to place the mounting tube 402 located at the drilling position B into the limiting frame 1202.

[0083] In this way, the support rod extends along the preset direction (i.e., the drilling axis) and is fixed to the switching seat, serving as the main load-bearing frame of the recovery basket 12 and providing an installation reference for other components. The baffle 1209 is fixed to one end of the support rod (usually the end near the anchor hole) to form an axial stop on the front end of the installation tube 402 entering the recovery basket 12, ensuring consistent insertion depth and preventing the installation tube 402 from popping out or stacking misaligned due to inertia or excessive pushing.

[0084] The limiting frame 1202 is fixed to the support rod and located on both sides of the support rod in the circumferential direction, constraining the radial position of the mounting tube 402. When the robot arm 6 transfers the mounting tube 402, which is picked up from the drilling position B, to the area of ​​the recovery basket 12 and releases it, the limiting frame 1202 guides and clamps the mounting tube 402 from both sides, so that it falls stably into the predetermined storage position and prevents it from radially dislodging from the support rod.

[0085] The movable plate 1204 is rotatably connected to the other end of the support rod (the end away from the anchor hole) and has two working states: during normal recovery, the movable plate 1204 is in the closed position, forming an axial limit on both ends of the installation tube 402 together with the baffle 1209; when it is necessary to empty the recovery basket 12 or remove the collected installation tube 402, the movable plate 1204 can be rotated open around the end of the support rod to avoid the axis of the installation tube 402, thereby providing an unobstructed removal channel.

[0086] Optionally, the support rod adopts a circular tube structure, thereby reducing the friction between the recovered installation tube 402 and the support rod, and reducing the force required for the robot arm 6 to complete the opening action.

[0087] The recycling basket 12 also includes a hinge 1205 and a latch 1206. The movable plate 1204 is connected to the support rod by the hinge 1205, and the latch 1206 is fixed to the support rod and can be engaged or disengaged from the movable plate 1204 so that the movable plate 1204 is fixed at the position of the stop mounting tube 402 or avoids the mounting tube 402.

[0088] Therefore, when the robotic arm 6 places the installation tube 402 into the recycling basket 12, the movable plate 1204 is in a closed state and is securely fastened to the support rod by the latch 1206, keeping it stably positioned at the other end of the installation tube 402. Together with the baffle 1209, it forms an axial limit on the installation tube 402, preventing it from shifting or slipping out during equipment operation or movement. When it is necessary to empty the recycling basket 12 or remove the collected installation tube 402, the operator or automatic actuator can release the latch 1206, allowing the movable plate 1204 to rotate open around the hinge 1205, thereby avoiding the axis of the installation tube 402 and providing an unobstructed material retrieval channel.

[0089] Furthermore, the support rod provides a stable mounting base for the hinge 1205. One side of the hinge 1205 is fixed to the support rod, and the other side is connected to the movable plate 1204, allowing the movable plate 1204 to rotate smoothly between two working positions around the axis of the hinge 1205: firstly, it is in a closed state when the installation tube 402 is retracted, cooperating with the baffle 1209 to form an axial limit at both ends of the installation tube 402; secondly, it is rotated open during cleaning or maintenance to avoid the path of the installation tube 402, making it easier to remove the collected tube body.

[0090] This connection method offers advantages such as simple structure, reliable rotation, and impact resistance. Since hinge 1205 is a mature standard mechanical connector, its hinge performance is stable, maintaining good motion characteristics even under conditions of frequent opening and closing or impact from the placement of mounting tube 402. Furthermore, hinged movable plate 1204 to the support rod rather than directly connected to its end optimizes the force transmission path, avoids stress concentration at the support rod end, and helps improve the fatigue life of the overall structure.

[0091] Optionally, the limiting frame 1202 includes an interceptor 1207, a torsion spring, and a limiting plate 1208; Two interceptor brackets 1207 are fixed to the support rod and face each other in the circumferential direction of the support rod. The space between the two interceptor brackets 1207 is used to store the installation tube 402. A limit plate 1208 is installed on the section of the interceptor frame 1207 away from the support rod via a torsion spring; The two limiting plates 1208 are directly opposite each other in the circumferential direction of the support rod; Under the action of the torsion spring, the limiting plate 1208 tends to rotate toward the support rod. That is, in its natural state, the two limiting plates 1208 are in an "inward" posture, forming an elastic inlet slightly smaller than the outer diameter of the mounting tube 402.

[0092] Therefore, when the robotic arm 6 pushes the installation tube 402 between the two interceptors 1207, the front end of the installation tube 402 contacts the limiting plate 1208 and overcomes the torsion spring force, causing the limiting plates 1208 on both sides to open outward; as the installation tube 402 is fully inserted between the two interceptors 1207, the limiting plates 1208 rebound under the restoring force of the torsion spring, and the two limiting plates 1208 close together again. This prevents the installation tube 402 from falling off between the two limiting plates 1208 during equipment movement, vibration, or workstation switching.

[0093] Furthermore, it should be noted that since both sides of the tunnel require anchoring support, after completing the work on one side, the equipment typically needs to rotate the work position switching shaft 17 180° so that the rock drill 11 and tensioning mechanism 10 can switch from facing one side of the rock face to facing the other side (see reference). Figure 13 During this process, the recovery basket 12 flips along with the switching seat, and its posture changes accordingly—when the equipment is in a working position on one side, the tensioning mechanism 10, the rock drill 11, the robot arm 6, the recovery basket 12, etc. are all facing upwards; while after switching to the working position on the other side, these components are all facing downwards.

[0094] In this downward-facing state, if the installation tube 402 is already stored in the recovery chamber, it will tend to detach downwards due to gravity. At this time, thanks to the two limiting plates 1208 in the limiting frame 1202, which always have an elastic tendency to rotate inwards towards the recovery chamber under the action of torsion springs, they naturally close to form an "elastic barrier," applying a restraining force to the installation tube 402 from both sides and part of the top area. Even when the opening of the recovery basket 12 is facing upwards, this structure can effectively resist the tendency of the installation tube 402 to slip due to its own weight, keeping it stably within the recovery chamber and preventing accidental fall during equipment rotation, movement, or vibration.

[0095] The middle part of the interceptor frame 1207 is bent, wherein the bending direction of the interceptor frame 1207 is toward the push rod advancement beam 13, and the end of the interceptor frame 1207 away from the support rod is inclined toward the push rod advancement beam 13.

[0096] Therefore, when the robotic arm 6 picks up the installation tube 402 from the drilling position B and transfers it to the recovery basket 12, its movement path usually extends along the axial direction of the push rod advance beam 13; the interceptor frame 1207 opens in this direction, providing a smoother guide channel for the installation tube 402 to enter the recovery chamber, reducing the risk of scratching or jamming during the pushing process.

[0097] When the equipment is flipped to the downward position, the curved and tilted interceptor 1207, in conjunction with the elastic limiting plate 1208, not only maintains the circumferential clamping of the installation tube 402, but also forms effective support and obstruction in the direction of gravity, significantly reducing the possibility of the installation tube 402 accidentally falling off. At the same time, the structure maintains good storage and guiding functions even in the non-inverted position, possessing all-position adaptability. The overall design does not require the addition of movable latches or additional drives; it achieves a highly reliable passive anti-detachment mechanism solely through the synergy of geometric configuration and elastic elements, meeting the comprehensive requirements of tunnel construction equipment for simplicity and multi-condition adaptability.

[0098] Optionally, the number of limiting frames 1202 and support rods is configured to be two to accommodate the stable storage requirements of the longer installation tube 402 and to improve the structural reliability of the recycling basket 12 under multiple working conditions.

[0099] Specifically, two support rods extend along the same axis (i.e., the preset direction), are coaxial with each other and spaced apart, forming a double-support structure distributed front and rear. Each support rod is fixed with a limiting frame 1202, which is used to limit the two sides of the installation tube 402 from different axial positions. This double limiting frame 1202 layout can achieve two-point or multi-point radial constraint on the installation tube 402, effectively suppressing its bending, rolling or deflection in the recovery chamber, and is especially suitable for the long and weakly rigid installation tubes 402 commonly used in medium and deep hole construction.

[0100] Furthermore, baffles 1209 and movable plates 1204 are respectively provided at the ends of the two support rods that are far apart from each other. For example, baffle 1209 is fixed at the end of the support rod (first support rod 1201) located at the front end (the end near the anchor hole) to stop the front end of the installation tube 402; the end of the support rod (second support rod 1203) located at the rear end (the end away from the anchor hole) is connected to movable plate 1204 (via hinge 1205) to stop the rear end of the installation tube 402 in the closed state and to avoid the tube body for material cleaning in the open state.

[0101] Optionally, the distance between the two interceptors 1207 is greater than the outer diameter of the mounting tube 402 but less than twice the outer diameter of the mounting tube 402. This dimensional relationship not only meets the basic requirements for the smooth entry and reliable limiting of the mounting tube 402, but more importantly, its geometric constraints ensure that the recovery chamber can only accommodate the mounting tube 402 in a single layer and in a sequential arrangement.

[0102] Specifically, because the spacing of the interceptor 1207 is insufficient to accommodate two installation tubes 402 side-by-side (as it is less than twice the outer diameter), while being slightly larger than the outer diameter of a single installation tube 402 ensures that the tube can smoothly pass through the limiting plate 1208 and enter the recovery chamber, each installation tube 402 can only be arranged sequentially along the axial direction when inserted, and cannot be stacked laterally or overlapped. This forced single-layer arrangement effectively maintains the spatial order inside the recovery chamber.

[0103] Under this structural condition, when the robotic arm 6 pushes a new installation tube 402 into the recovery basket 12, the existing installation tubes 402 only need to be slightly translated axially to make room for the new tube. The movement path is clear and the resistance is small, and there will be no jamming due to overlapping, nesting, or lateral displacement of the tubes. Correspondingly, the limiting plate 1208 only needs to open briefly during each insertion to allow a single tube to pass through, and then it can be reset and clamped. Its movement is not affected by adjacent tubes, thus ensuring the smooth execution of the gripper drive and the overall movement of the robotic arm 6.

[0104] Continue to refer to Figure 3 The anchoring device also includes a front clamp 18; the front clamp 18 is fixed on the push rod advance beam 13 and located on the side of the tensioning mechanism 10 that is close to the rock surface, and is used to clamp, support or release the anchor rod 3 or resin rod 4. The clamping (re-clamping) state refers to the force and spatial limiting effect on the anchor rod 3 or resin rod 4. At this time, the anchor rod 3 or resin rod 4 is fixed in any direction relative to the front clamp 18. The support (light clamp) state refers to the state where there is no force on the anchor rod 3 or resin rod 4, but there is a space limiting effect. At this time, only the anchor rod 3 or resin rod 4 is allowed to move relative to the front clamp 18 along the second end of the first push beam towards the first end. The "released" (open) state refers to the absence of force and spatial limitation on the anchor rod 3 or resin rod 4. At this time, the anchor rod 3 or resin rod can move in any direction relative to the front clamp 18. By coordinating with the tensioning mechanism 10 and switching the operating position, the anchor rod 3 or resin rod 4 can be clamped from the rubber chuck 1.

[0105] The construction process of the anchoring device in this application is as follows: (a) Before operating the full-length resin anchoring device for medium-deep holes: Press the anchor rod 3 and resin rod 4 together. Figure 5 The rock drill 11 and the tensioning mechanism 10 are alternately inserted into the slots 101 of the rubber chuck 1. The rock drill 11 is located at the second end of the push rod propulsion beam 13 and the rock drilling propulsion beam 15, respectively. The manipulator 6 is in the state of recovering the resin rod 4, and both it and the front-end clamp 18 are in the open state.

[0106] The station switching shaft 17 is rotated by an external power source to adjust the posture of the first switching seat 14 and the second switching seat 16. The rod magazine motor 9 drives the rod magazine rotating shaft 5 to rotate, thereby causing the rubber chuck 1 to rotate synchronously, so that the resin rod 4 is switched to the rod retrieval position A. The buckle 1206 in the recovery basket 12 is locked, and the movable plate 1204 is fixed relative to the second support rod 1203.

[0107] (II) Operation of medium-deep hole full-length resin anchoring device: a) Drilling and cleaning: The work position switching shaft 17 rotates around its own center to switch the working center of the rock drill 11 to the drilling position B, pushing the rock drill 11 to move along the rock surface of the rock drilling propulsion beam 15 to drill and clean the hole, and then retracts the rock drill 11.

[0108] b) Install anchoring agent: refer to Figure 14 and Figure 15 The front clamp 18 clamps the resin rod 4 located at the rod removal position A, and the station switching shaft 17 rotates to drive the working center of the tensioning mechanism 10 to coincide with the rod removal position A.

[0109] The tensioning mechanism 10 is pushed forward along the push rod to advance the beam 13 toward the rock face and rotate the internal structural components so that they are threadedly connected to one end of the mounting tube 402 in the resin rod 4. After the threaded connection is successful, the tensioning mechanism 10 stops moving.

[0110] The workstation switching shaft 17 is driven to rotate, realizing the switching of the operating position, and the working center of the tensioning mechanism 10 coincides with the drilling position B (reference). Figure 16 and Figure 17 During this process, the resin rod 4, which was previously located at the rod-taking position A, moves together with the tensioning mechanism 10 and the front clamp 18 to the rod-taking position A.

[0111] The front clamp 18 lightly clamps and supports the resin rod 4, and the tensioning mechanism 10 moves towards the anchor hole, so that the resin rod 4 enters the anchor hole.

[0112] The front clamp 18 is released, and the tensioning mechanism 10 continues to advance until the resin rod 4 reaches the required depth. Then, the tensioning mechanism 10 retracts to pull the installation tube 402 out of the anchor hole. Utilizing the squeezing action between the expansion head 401 and the inner wall of the anchor hole, the expansion head 401 and the resin roll 403 remain inside the anchor hole, while the installation tube 402 exits the anchor hole synchronously as the tensioning mechanism 10 retracts.

[0113] c) Recycle resin rod 4 mounting tube 402: When the mounting tube 402 exits the hole, the driving robot motor 604 causes the swing arm 605 to contact the first limiting member 602, and the robot 6 is in the state of gripping the mounting tube 402. The gripper motor 606 drives the active claw 608 and the driven claw 607 of the robot 6 to tighten and grasp the mounting tube 402.

[0114] The tensioning mechanism 10 continues to retreat and rotate in the opposite direction to loosen the thread at one end of the installation pipe 402. The tensioning mechanism 10 continues to retreat until the end of the push rod advancing beam 13 is away from the rock surface.

[0115] The drive motor 604 puts the robotic arm 6 into the state of recycling resin rod 4. The mounting tube 402 enters the recycling basket 12. The drive gripper motor 606 moves the robotic arm 6 into the released state. The mounting tube 402 falls completely into the recycling basket 12, completing one gripping and releasing operation.

[0116] d) Pushing anchor bolt 3 to complete anchoring tensioning: Rotate the rod holder shaft 5 to make the rubber chuck 1 rotate synchronously, thereby placing an anchor rod 3 in the rod removal position A; rotate the work position switching shaft 17 to make the working center of the tensioning mechanism 10 coincide with the rod removal position A, at which time the working center of the rock drill 11 is in the drilling position B.

[0117] The front clamp 18 clamps the anchor rod 3 located at the rod removal position A. The tensioning mechanism 10 moves forward and rotates towards the rock surface so that its internal structural components are connected to the anchor rod 3 located at the rod removal position A.

[0118] The work position switching shaft 17 rotates, so that the working center of both the anchor rod 3 located at the rod taking position A and the tensioning mechanism 10 are switched to the drilling position B.

[0119] The front clamp 18 lightly clamps and continues to advance the tensioning mechanism 10, pushing the anchor rod 3, located at the drilling position B, into the anchor hole.

[0120] The front clamp 18 opens, and the tensioning mechanism 10 continues to advance, causing the anchor rod 3 to reach the bottom of the anchor hole, thereby puncturing the resin roll 403 and causing the anchor rod 3 to rotate and stir the resin roll 403 to react fully, thus completing the anchoring of one anchor rod 3.

[0121] After anchoring, the anchor rod 3 is tensioned to provide the required preload. After tensioning, the tensioning mechanism 10 retracts and rotates away from the anchor rod 3 until it retracts to the end of the pusher beam 13 that is away from the rock surface.

[0122] (III) After the installation of the full-length resin anchoring device for medium-deep holes: Rotate the rod holder shaft 5 to make the rubber chuck 1 rotate synchronously, so that the next resin rod 4 is in the rod picking position A; The work station switching shaft 17 rotates, aligning the working center of the tensioning mechanism 10 with the rod taking position A and the working center of the rock drill 11 with the drilling position B, preparing for the next operation.

[0123] (iv) Cleaning resin rod 4 mounting tube 402: When there is insufficient space in the recycling basket 12 to store the installation tube 402, open the latch 1206 to allow the movable plate 1204 to rotate relative to the second bracket 8, and remove the recycled installation tube 402 from inside the recycling basket 12.

[0124] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application.

Claims

1. An anchoring device, characterized in that, It includes a workstation switching shaft (17), a push rod propulsion beam (13), a switching seat, a rock drilling propulsion beam (15), a tensioning mechanism (10), a rock drill (11), a rod storage, a recovery basket (12), and a robot arm (6). The rod magazine is used to accommodate anchor rods (3) and resin rods, wherein the resin rods include expansion heads (401), resin rolls (403), and installation tubes (402). The mounting tube (402) contains multiple resin rolls (403) connected in sequence. The expansion head (401) is slidably connected to one end of the mounting tube (402) and connected to the resin rolls (403). When the installation tube (402) is pulled out of the anchor hole, the resin roll (403) remains in the anchor hole under the action of the expansion head (401); The workstation switching shaft (17) extends along a preset direction, and the switching seat is fixed on the workstation switching shaft (17); The push rod propulsion beam (13) and the rock drilling propulsion beam (15) are both disposed on the switching seat and are spaced apart in the circumferential direction of the work station switching shaft (17); wherein, the push rod propulsion beam (13) and the rock drilling propulsion beam (15) are both capable of sliding along the preset direction; The rock drill (11) is mounted on the rock drilling propulsion beam (15); the tensioning mechanism (10) is mounted on the push rod propulsion beam (13) and is used to connect or separate from one end of the anchor rod (3) located at the rod removal position (A) in the rod magazine or one end of the installation pipe (402); The work position switching shaft (17) is rotatable so that one of the working center of the rock drill (11) and the working center of the tensioning mechanism (10) is switched to the drilling position (B). Both the rock drill (11) and the tensioning mechanism (10) can slide along the preset direction. When the rock drill (11) is located at the drilling position (B), it can drill an anchor hole on the rock surface. When the tensioning mechanism (10) is located at the drilling position (B), it can push the connected anchor rod (3) or resin rod (4) into the anchor hole or pull the installation tube (402) out of the anchor hole. The robotic arm (6) is fixed to the push rod advance beam (13) for gripping or releasing the mounting tube (402) located at the rod taking position (A) or the drilling position (B). The recovery basket (12) is fixed to the switching seat and located between the push rod propulsion beam (13) and the rock drilling propulsion beam (15). The recovery basket (12) is used to store the installation tube (402) that has been released by the manipulator (6) and is located at the drilling position (B).

2. The anchoring device according to claim 1, characterized in that, The pole storage includes a pole storage shaft (5), a first support (2), a second support (8), a pole storage motor (9), and a rubber chuck (1). The first bracket (2) and the second bracket (8) are spaced apart along the preset direction and are relatively fixed; The two ends of the rod storage shaft (5) are rotatably connected to the first bracket (2) and the second bracket (8) respectively; At least two of the rubber chucks (1) are fixedly sleeved on the rod magazine shaft (5), and each of the rubber chucks (1) is used to simultaneously accommodate multiple anchor rods (3) and multiple resin rods (4) along its own circumference. The rod holder motor (9) is connected to the rod holder shaft (5) and is used to drive the rod holder shaft (5) to rotate so that any anchor rod (3) or resin rod (4) rotates to the rod removal position (A).

3. The anchoring device according to claim 2, characterized in that, The rod holder also includes a proximity switch assembly (7), which includes a detection element and a sensing element. One of the detection element and the sensing element is fixed to the rod holder pivot (5), and the other is fixed to the first bracket (2) or the second bracket (8). The detection element is used to detect the position information of the sensing element, and the rod magazine motor (9) is used to drive the rod magazine shaft (5) to rotate according to the position information so that any anchor rod (3) or resin rod (4) rotates to the rod taking position (A).

4. The anchoring device according to claim 2, characterized in that, The rubber chuck (1) has multiple slots (101) along its circumference. In the two adjacent slots (101) in the circumferential direction, one slot (101) is used for an anchor rod (3) to be inserted, and the other slot (101) is used for a resin rod (4) to be inserted.

5. The anchoring device according to claim 1, characterized in that, The robotic arm (6) includes a mounting base (601), a robotic arm motor (604), a swing arm (605), a gripper drive component, and grippers; The mounting base (601) is fixed to the push rod push beam (13); The robotic arm motor (604) is fixed to the mounting base (601) and connected to one end of the swing arm (605). The robotic arm motor (604) is used to drive the swing arm (605) to rotate, and the rotation axis of the swing arm (605) is parallel to the preset direction. The gripper drive is fixed to the other end of the swing arm (605) and connected to the gripper, and is used to drive the gripper to open or close in order to grab or release the mounting tube (402).

6. The anchoring device according to claim 5, characterized in that, The gripper drive includes a gripper motor (606), a gear cover (609), a drive gear (610), a driven gear (611), and a bearing (612). The gripper motor (606) is fixed to the rocker arm (605) and connected to the drive gear (610). The gripper motor (606) is used to drive the drive gear (610) to rotate, and the rotation axis of the drive gear (610) is parallel to the preset direction. The rocker arm (605) has a mounting shaft extending along the preset direction, and the inner ring of the bearing (612) is fixedly fitted on the mounting shaft; The driven gear (611) is fixedly mounted on the outer ring of the bearing (612) and meshes with the driving gear (610); The gear cover (609) is fixed to the rocker arm (605) and covers the driving gear (610), the driven gear (611) and the bearing (612). The gripper includes an active gripper (608) and a driven gripper (607). The active gripper (608) is connected to the active gear (610), and the driven gripper (607) is connected to the driven gear (611).

7. The anchoring device according to claim 5, characterized in that, The robotic arm (6) also includes a first limiting member (602) and a second limiting member (603), both of which are mounted on the mounting base (601) and located on both sides of the swing arm (605). When the swing arm (605) contacts the first limiting member (602), the gripper is used to grasp or release the mounting tube (402) located at the rod removal position (A). When the swing arm (605) contacts the second limiting member (603), the gripper is used to grip or release the mounting tube (402) located at the drilling position (B). The positions of the first limiting member (602) and the second limiting member (603) are both adjustable.

8. The anchoring device according to claim 1, characterized in that, The recycling basket (12) includes a support rod, a baffle (1209), a limiting frame (1202), and a movable plate (1204). The support rod extends along the preset direction and is fixed to the switching seat; The limiting frame (1202) is fixed to the support rod and is used to limit the movement from both sides of the mounting tube (402); The baffle (1209) is fixed to one end of the support rod and is used to stop one end of the mounting tube (402); The movable plate (1204) is rotatably connected to the other end of the support rod to stop the other end of the mounting tube (402) or to avoid the mounting tube (402). The robotic arm (6) is used to place the mounting tube (402) located at the drilling position (B) into the limiting frame (1202).

9. The anchoring device according to claim 8, characterized in that, The recycling basket (12) also includes a hinge (1205) and a fastener (1206). The movable plate (1204) is connected to the support rod via the hinge (1205). The fastener (1206) is fixed to the support rod and is engaged or disengaged from the movable plate (1204) so ​​that the movable plate (1204) is fixed at the position of the stop mounting tube (402) or avoids the mounting tube (402).

10. The anchoring device according to claim 8, characterized in that, The limiting frame (1202) includes an interceptor (1207), a torsion spring, and a limiting plate (1208). Two of the interceptors (1207) are fixed to the support rod and face each other in the circumferential direction of the support rod, with the space between the two interceptors (1207) used to store the mounting tube (402). A limit plate (1208) is installed on a section of the interceptor (1207) away from the support rod via the torsion spring. The two limiting plates (1208) are directly opposite each other in the circumferential direction of the support rod; Under the action of the torsion spring, the limiting plate (1208) tends to rotate toward the support rod.

11. The anchoring device according to claim 10, characterized in that, The interceptor (1207) is bent in the middle, wherein the bending direction of the interceptor (1207) is toward the push rod propulsion beam (13), and the end of the interceptor (1207) away from the support rod is inclined toward the push rod propulsion beam (13); And / or, The distance between the two interceptors (1207) is greater than the outer diameter of the mounting tube (402) but less than twice the outer diameter of the mounting tube (402).

12. A resin rod, used in the anchoring device according to any one of claims 1-11, characterized in that, Includes expansion head (401), resin roll (403) and mounting tube (402); The mounting tube (402) contains multiple resin rolls (403) connected in sequence. The expansion head (401) is slidably connected to one end of the mounting tube (402) and connected to the resin rolls (403). When the installation tube (402) is pulled out of the anchor hole, the resin roll (403) remains in the anchor hole under the action of the expansion head (401).

13. The resin rod according to claim 12, characterized in that, The expansion head (401) includes a sleeve (404) and a reverse thrust section; The sleeve (404) is slidably sleeved outside the end of the mounting tube (402) and connected to the resin roll (403); The reverse thrust section is connected to the outer peripheral wall of the sleeve (404), and a portion of it is inclined toward the other end of the mounting tube (402).

14. The resin rod according to claim 13, characterized in that, The thrust reverser includes a conical body (405) and at least two thrust reverser plates (406) connected to one end of the conical body (405). The conical body (405) is connected to the sleeve (404); In this process, along the direction from one end of the mounting tube (402) to the other end, the outer diameter of the tapered body (405) gradually increases, and the radial distance between the thrust plate (406) and the sleeve (404) gradually increases.

15. A rock drilling rig, characterized in that, Includes a vehicle frame and an anchoring device as described in any one of claims 1-11, mounted on the vehicle frame.

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