TBM drilling, anchoring and grouting integrated machine device and operation method

Abstract

The application discloses a TBM drilling, anchoring and grouting integrated machine device and a working method, and solves the problems of many processes and low efficiency of personnel assistance in the prior art. The TBM drilling, anchoring and grouting integrated machine device comprises a drilling, anchoring and grouting trolley and a drilling, anchoring and grouting integrated machine. The drilling, anchoring and grouting trolley is connected with a circumferential movement mechanism arranged on a main beam. The drilling, anchoring and grouting integrated machine comprises a propulsion beam assembly, wherein the propulsion beam assembly is provided with a propulsion driving mechanism, an anchor rod storage and taking mechanism, a rock drill and an anchoring and grouting power head with switchable working positions. The rock drill is matched with a drill rod and performs drilling operation under the action of the propulsion driving mechanism; the anchoring and grouting power head is matched with an anchor rod and performs anchoring operation under the action of the propulsion driving mechanism; and the anchoring and grouting power head is matched with a grouting system and performs grouting operation. The drilling, anchoring and grouting integrated machine device is arranged on an open TBM, and full-automatic functions of anchor rod support drilling, anchoring and grouting are realized. The working efficiency is improved, and the labor intensity of personnel is reduced.

Description

Technical Field

[0001] This invention relates to the field of TBM construction technology, and in particular to a TBM drilling, anchoring, and injection construction related equipment and methods. Background Technology

[0002] Bolt support systems are an important component of open-face TBMs. Tunnel support plays a crucial role in construction, serving as a key means to ensure the safety of construction personnel and the smooth operation of the tunnel boring machine. Therefore, tunnel boring machines are equipped with bolt support systems to improve tunneling safety and support capacity. The equipment typically uses a bolt drilling rig system for bolt support.

[0003] However, in existing TBM support systems, the commonly used anchor drilling systems can only perform drilling operations. For example, the small-diameter full-face tunnel boring machine anchor drilling system disclosed in patent application CN105604589A requires an operator to control the anchor drilling machine to reach the anchor support position for drilling. After drilling, the operator must move the anchor drilling machine away using the handle or wireless remote control, and the anchor rod must be manually inserted into the drilled hole. For hollow anchor rods, the grouting pipe needs to be manually inserted into the tail of the anchor rod, the grouting pipeline valve needs to be manually opened, and grout needs to be injected into the hole through the internal cavity of the anchor rod to anchor it. Then, the anchor top plate needs to be manually installed, and the bolts need to be tightened with a torque wrench. In existing TBM construction, due to the low level of intelligence and integration of anchor drilling systems, most of the above procedures are completed manually, which not only affects the support efficiency but also poses safety risks to personnel when supporting the TBM main beam area. Therefore, it is necessary to design an open-type TBM drilling, anchoring, and grouting integrated machine. Summary of the Invention

[0004] To address the shortcomings in the aforementioned background technology, this invention proposes a TBM drilling, anchoring, and injection integrated machine device and operation method, which solves the problems of numerous procedures and low efficiency in tunnel support personnel in the prior art.

[0005] The technical solution of this invention is implemented as follows: a TBM drilling, anchoring, and grouting integrated machine device includes a drilling, anchoring, and grouting trolley and an integrated drilling, anchoring, and grouting machine mounted on the trolley; the drilling, anchoring, and grouting trolley is connected to a circumferential motion mechanism mounted on the main beam; the integrated drilling, anchoring, and grouting machine includes a propulsion beam assembly connected to the drilling, anchoring, and grouting trolley, the propulsion beam assembly is equipped with a propulsion drive mechanism, an anchor rod storage and retrieval mechanism, a rock drill with switchable work positions, and an anchoring and grouting power head; the rock drill, in conjunction with the drill rod and under the action of the propulsion drive mechanism, performs drilling operations; the anchoring and grouting power head, in conjunction with the anchor rod and under the action of the propulsion drive mechanism, performs anchoring operations; and the anchoring and grouting power head, in conjunction with the grouting system, performs grouting operations. This invention sets up a drilling, anchoring, and grouting integrated machine device on an open TBM, realizing fully automated functions for anchor rod support drilling, anchoring, and grouting; improving work efficiency, reducing labor intensity, achieving minimal or no manpower in anchor rod support, and reducing safety risks during anchor rod support operations.

[0006] Further preferably, the lower part of the propulsion beam assembly is provided with a work position switching mechanism. The work position switching mechanism includes a left base, a right base, and a work position switching cylinder located at the lower part of the propulsion beam assembly. A middle base is provided between the left base and the right base. The middle base is connected to the propulsion drive mechanism. The rock drill and the anchoring grouting power head are slidably engaged with the left base, the middle base, and the right base respectively through base locking blocks. The work position switching cylinder pushes the rock drill and the anchoring grouting power head to move between the left base, the middle base, and the right base to switch work positions, so as to realize the rapid switching of drilling, anchoring, and grouting operations.

[0007] Further optimized, the propulsion drive mechanism includes a drive motor located at the lower part of the propulsion beam assembly and a driven sprocket located at the upper part of the propulsion beam assembly. The output end of the drive motor is connected to a drive sprocket, and the drive sprocket and the driven sprocket are connected by a chain drive. The central base is fixedly connected to the chain, and the chain drives the central base to move along the propulsion beam assembly. The propulsion drive mechanism adopts a longitudinal chain traction transmission layout to achieve reciprocating movement along the longitudinal direction of the propulsion beam assembly.

[0008] In a further preferred embodiment, the anchor bolt storage and retrieval mechanism includes an anchor bolt magazine located on one side of the propulsion beam assembly and a drill rod manipulator and an anchor bolt manipulator mounted on the propulsion beam assembly; the upper part of the propulsion beam assembly is equipped with a clamp for holding the drill rod or anchor bolt. The drill rod manipulator is used for gripping and resetting the drill rod, and the anchor bolt manipulator is used for grasping the anchor bolt; the drill rod manipulator and the anchor bolt manipulator, in conjunction with the clamp, achieve accurate installation of the drill rod and the anchor bolt.

[0009] Further preferably, the circumferential motion mechanism includes arc-shaped rail assemblies symmetrically arranged on the main beam; the drilling and anchoring trolley includes a left drilling and anchoring trolley and a right drilling and anchoring trolley, which respectively cooperate with the corresponding arc-shaped rail assemblies through a traveling mechanism; the arc-shaped rail assembly cooperates with the support rail arranged on the main beam through a traveling wheel mechanism, and the arc-shaped rail assembly is connected to the front and rear traveling cylinders arranged on the main beam. The front and rear traveling cylinders provide the pushing and pulling force for the forward and backward movement of the drilling and anchoring device, and the built-in stroke sensor controls the forward and backward movement position of the drilling and anchoring trolley.

[0010] Further optimization reveals that the arc-shaped rail assembly includes a large gear ring and arc-shaped tracks positioned on both sides of the large gear ring. Both the left and right drilling and anchoring trolleys include trolley frames, and the traveling mechanism includes a motor reducer mounted on the trolley frame, with an encoder on the reducer. The motor reducer engages with the large gear ring via gear components. Guide roller assemblies corresponding to the arc-shaped tracks are located on both sides of the trolley frame. The arc-shaped rail assembly utilizes a composite track of the large gear ring and arc-shaped tracks, enabling both rigid meshing transmission and improved stability and vibration resistance of the trolley under complex stress conditions.

[0011] Further preferably, the gear assembly includes a pinion mounted on the motor reducer and a driven gear mounted on the trolley frame, with the driven gear meshing with the pinion and the large gear ring for transmission; the guide roller assembly includes an inner roller, an outer roller, and a side roller, with the inner and outer rollers located on the inner and outer sides of the arc-shaped track, respectively, and the side roller located at the outer end of the arc-shaped track; the above design further improves the stability of the circumferential movement of the drilling and anchoring trolley.

[0012] Further optimized, the traveling wheel mechanism includes wheel boxes located at the upper and lower ends of the inner wall of the large gear ring. Rollers are connected to the wheel boxes via a first axle, and these rollers cooperate with the support rail. This improves the stability of the drilling and anchoring trolley moving along the support rail.

[0013] Further preferably, the trolley frame is equipped with a left-right swing mechanism, and the left-right swing mechanism is equipped with a front-back swing mechanism; the left-right swing mechanism includes a swing component hinged to the trolley frame, and the swing component is connected to a left-right swing cylinder mounted on the trolley frame; the front-back swing mechanism includes a front-back swing cylinder hinged to the swing component, the front-back swing cylinder is equipped with a fixing component, the fixing component is equipped with a compensation cylinder and a slider component for connecting to the propulsion beam assembly, the slider component is connected to the compensation cylinder. The left-right swing mechanism and the front-back swing mechanism cooperate to give the fixing component and its connected drilling-anchor-grouting assembly flexible degrees of freedom, thereby improving its applicability.

[0014] Further optimization involves installing left and right swing angle sensors on the swing component, with these sensors coaxial with the left and right swing cylinders; and installing front and rear swing angle sensors on the fixed component, with these sensors coaxial with the front and rear swing cylinders. This ensures the orderly, efficient, and precise execution of drilling, anchoring, and grouting processes in the integrated drilling, anchoring, and grouting machine.

[0015] Further optimization involves equipping the main beam with a synchronizing cylinder and a saddle support system. One end of the synchronizing cylinder is connected to the main beam, and the other end is connected to the saddle support system. The cylinder diameter and rod diameter of the synchronizing cylinder are the same as those of the front and rear traveling cylinders, and the large chamber of the synchronizing cylinder is connected to the large chamber of the front and rear traveling cylinders, while the small chamber of the synchronizing cylinder is connected to the small chamber of the front and rear traveling cylinders. When the synchronizing cylinder extends, the oil in its large chamber comes from a translation cylinder with the same cylinder diameter and rod diameter. At this point, the translation cylinder retracts, causing the drilling, anchoring, and injection machine to remain stationary relative to the tunnel, thus enabling simultaneous excavation and drilling.

[0016] Further optimization involves equipping the drilling-anchor-grouting integrated machine with a posture detection device or a posture recognition block. The posture recognition block is positioned corresponding to the binocular camera mounted on the main beam, serving as the recognition point for the binocular camera. This enables precise detection of the posture of the drilling-anchor-grouting integrated machine, allowing it to accurately perform drilling, anchoring, and grouting operations. This achieves full automation, reduces manpower requirements, lowers the risk of labor-intensive anchor bolt support work during construction, and improves the efficiency of anchor bolt support.

[0017] A TBM drilling, anchoring, and grouting integrated operation method, using the aforementioned TBM drilling, anchoring, and grouting integrated machine device, comprises the following steps: S1 Positioning: The drilling, anchoring, and grouting integrated machine reaches a preset position for operation. At this time, the rock drill with drill rod is located on the central base of the work position switching mechanism. S2 Drilling: Under the propulsion of the propulsion drive mechanism, the central base drives the rock drill to drill a hole in the rock strata, forming a borehole. S3 Drilling Completed: Under the propulsion of the propulsion drive mechanism, the central base drives the rock drill back to the bottom of the propulsion beam assembly, and the drill rod manipulator grabs the drill rod on the rock drill. S4 Switching Anchor Rod Position: Under the action of the work position switching cylinder, the anchoring and grouting power head switches from the left base to the central base, and the rock drill switches from the central base to the right base. The drill rod manipulator grabs the drill rod connected to the rock drill and swings it to the right work position. The anchor rod manipulator clamps the anchor rod and swings it to the central position, coaxially arranged with the anchoring and grouting power head. S5 Anchor Bolt Manipulator Return: The central base, propelled by the drive mechanism, moves the anchor grouting power head forward to align with the anchor bolt held by the anchor bolt manipulator. The manipulator then releases and swings back to its left-side position. S6 Anchoring: The central base, driven by the drive mechanism, continues to move the anchor grouting power head forward, fully opening the clamps and pushing the anchor bolt with its top plate and nut into the borehole drilled in S2. S7 Grouting: The control system activates the grouting system connected to the anchor grouting power head. Grout is injected into the bottom of the borehole through the internal cavity of the anchor bolt until it is full. The anchor grouting power head then rotates to tighten the nut on the anchor bolt, securing the top plate. S8 Retraction: The central base, driven by the drive mechanism, moves the anchor grouting power head backward. S9 Anchor Bolt Retrieval: The anchor bolt magazine rotates, and the anchor bolt manipulator retrieves the anchor bolt from the magazine and swings it back to its original position. S10 Return to Position: The drilling, anchoring, and grouting integrated machine switches to the positioning posture: Under the action of the position switching cylinder, the anchoring and grouting power head moves from the middle base to the left base, the rock drill moves from the right base to the middle base, the drill rod mechanical hand is swung to the middle position connected to the rock drill, and then released and swung back to the original position.

[0018] The beneficial effects of this invention are as follows: The integrated drilling, anchoring, and grouting machine of this invention, through the systematic integration and coordinated design of the drilling, anchoring, and grouting trolley, the arc-shaped rail assembly, the propulsion beam assembly, the multi-degree-of-freedom swing mechanism, the work position switching mechanism, and the propulsion drive mechanism, produces significant beneficial effects compared to traditional split-type TBM tunnel support equipment. First, in terms of overall machine integration and space utilization, this device integrates the three major processes of drilling, anchoring, and grouting into a single machine body, and adopts a layout in which the drilling, anchoring, and grouting trolley moves circumferentially along the arc-shaped rail assembly and the two trolleys run independently to the left and right. Combined with the transverse three-work position switching mechanism at the bottom of the propulsion beam assembly, the rock drill and the anchoring and grouting power head are arranged in parallel laterally rather than in series longitudinally, which greatly saves the longitudinal space of the propulsion beam. Secondly, regarding construction efficiency and process continuity, the rock drill and anchoring / grouting power head can switch between the left, middle, and right bases in seconds via a hydraulic cylinder-driven rapid lateral repositioning system. Combined with the shared propulsion drive mechanism, this allows drilling, anchoring, and grouting to be completed continuously at the same work point, eliminating the need for equipment relocation or manual repositioning. The two trolleys operate independently along the large gear ring, enabling parallel or alternating operations, significantly improving construction efficiency.

[0019] During construction, the left and right drilling-anchoring trolleys are equipped with built-in sensors at each stage, which, in conjunction with the control system, control each joint to reach the preset anchor support position. A binocular camera detects the position and posture feedback compensation control system of the integrated drilling-anchoring machine for fine-tuning and positioning. Finally, in conjunction with the switching of each workstation of the integrated drilling-anchoring machine and the robotic arm, the following is achieved: ① Drilling: After each joint reaches the preset position, the rock drill, with the drill bit and drill rod, precisely opens the hole and drills, and then cleans the hole; ② Anchoring: After switching to the anchoring position, the integrated drilling-anchoring machine anchors one anchor from the anchor magazine into the drilled hole; ③ Grouting: The grouting pump injects grout into the hole through the grouting pipeline, filling it completely. The grout coats the anchor, and the anchor top plate fixing bolts are tightened; the control system switches to the next workstation to continue construction. Therefore, the TBM anchor support system equipped with this invention can achieve full automation, enabling less manpower for construction, reducing the labor risks associated with anchor support work, and improving anchor support efficiency. Attached Figure Description

[0020] To more clearly illustrate the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a schematic diagram of the layout of the drilling, anchoring, and injection integrated machine of the present invention;

[0023] Figure 3This is a schematic diagram of the curved rail assembly;

[0024] Figure 4 This is a schematic diagram of the drilling and anchoring trolley structure on the left side;

[0025] Figure 5 for Figure 4 View from AA direction;

[0026] Figure 6 A front view schematic diagram of the drilling, anchoring, and injection integrated machine;

[0027] Figure 7 This is a side view schematic diagram of the drilling, anchoring, and injection integrated machine;

[0028] Figure 8 This is a schematic diagram of the drilling, anchoring, and injection integrated machine in operation.

[0029] Figure 9 This is a schematic diagram of the walking wheel mechanism;

[0030] Figure 10 This is the first schematic diagram of the operation process;

[0031] Figure 11 This is the second schematic diagram of the operation process. Detailed Implementation

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Example 1, as Figure 1 , 2 As shown, a TBM drilling, anchoring, and grouting integrated machine device includes a drilling, anchoring, and grouting trolley and a drilling, anchoring, and grouting integrated machine 6 mounted on the trolley. The drilling, anchoring, and grouting trolley provides support for the drilling, anchoring, and grouting integrated machine 6. The drilling, anchoring, and grouting trolley is connected to a circumferential motion mechanism mounted on the main beam 1. Under the action of the circumferential motion mechanism, the drilling, anchoring, and grouting trolley carries the drilling, anchoring, and grouting integrated machine to perform circumferential movement relative to the tunnel, thereby achieving construction over a large working area. The entire drilling, anchoring, and grouting integrated machine device uses the drilling, anchoring, and grouting trolley as a carrying platform, and forms a rotatable connection with the TBM main beam through the circumferential motion mechanism, enabling the drilling, anchoring, and grouting operation range to cover the entire 360° circumferential area of ​​the tunnel cross-section, achieving flexible construction at any position on the arch, sidewalls, and bottom.

[0034] like Figure 6As shown, the integrated drilling, anchoring, and grouting machine 6 in this embodiment includes a propulsion beam assembly 608 connected to the drilling, anchoring, and grouting trolley. The propulsion beam assembly is the core load-bearing and guiding component of the entire machine. The propulsion beam assembly 608 is equipped with a propulsion drive mechanism 615, an anchor rod storage and retrieval mechanism, a rock drill 601 with switchable work positions, and an anchoring and grouting power head 602. The propulsion drive mechanism is mounted on the propulsion beam assembly and adopts a hydraulic cylinder-driven sprocket and chain traction, ball screw drive, or gear and rack drive, etc. This mechanism provides axial thrust and tension for rock drilling and anchor rod propulsion. Its maximum propulsion force must meet the axial pressure required for drilling in hard rock conditions, while the retraction force ensures the smooth withdrawal of the drill rod / anchor rod. The propulsion drive mechanism shares the same power and guiding system with the rock drill and the anchoring and grouting power head, ensuring the high coaxiality of the drilling centerline and the anchoring centerline. The anchor rod storage and retrieval mechanism enables automatic anchor rod feeding, reducing manual intervention. A rock drill 601, in conjunction with a drill rod and driven by a propulsion mechanism 615, performs drilling operations. Anchoring grouting power head 602, in conjunction with an anchor rod and driven by the propulsion mechanism 615, performs anchoring operations. Anchoring grouting power head 602, in conjunction with a grouting system 13, performs grouting operations. The rock drill is a hydraulic impact rotary rock drill (such as a down-the-hole hammer or top hammer type), used in conjunction with a drill rod for drilling operations. At the drilling position, the propulsion mechanism pushes the rock drill forward along the propulsion beam, while simultaneously outputting a combined rotational and impact motion to drill anchor holes in the surrounding rock that meet the anchor rod diameter requirements. The anchoring grouting power head, after drilling is completed, is moved to the centerline position of the borehole via a position switching mechanism. This power head has the function of clamping the anchor rod and rotating and propulsing it into the hole. It also integrates an internal or lateral grouting interface for connection to an external grouting system. During anchoring operations, the power head clamps the anchor bolt supplied by the anchor bolt retrieval mechanism and pushes it into the drilled hole under the action of the propulsion drive mechanism. Then, it switches to grouting mode, injecting cement grout or chemical grout into the bottom of the hole through the grouting system via the internal channels of the power head or the hollow channels of the anchor bolt, completing the grouting filling. The grouting system, as an auxiliary subsystem of the entire integrated machine, includes a grouting pump, grout storage tank, agitator, pressure sensor, flow meter, and pipeline valve assembly. The grouting pump is connected to the grouting interface of the anchoring grouting power head via a high-pressure hose, allowing adjustment of the grouting pressure and rate according to the surrounding rock conditions. The system can be configured with automatic pressure holding and backflushing functions, cleaning the pipeline after grouting to prevent grout solidification and blockage. This TBM drilling, anchoring, and grouting integrated machine, through its integrated structure, continuous process, and automated control design concept, integrates traditionally dispersed drilling, anchoring, and grouting equipment into a highly collaborative organic whole. High-quality, high-efficiency, and high-safety bolt support operations were achieved within the confined space of a TBM tunnel, solving problems such as spatial conflicts, process disconnects, positioning deviations, and high personnel risks associated with traditional split-type equipment, and further improving the integration and intelligence of mechanized tunnel support equipment.

[0035] Example 2 provides an integrated TBM drilling, anchoring, and grouting machine, further optimized from Example 1. In this example, a position switching mechanism is provided at the lower part of the propulsion beam assembly 608, enabling the switching between the rock drill 601 and the anchoring grouting power head 602. Specifically, the position switching mechanism includes a left base 603, a right base 605, and a position switching cylinder 607 located at the lower part of the propulsion beam assembly 608. The side bases 603 and 605 are laterally fixed to the lower part of the propulsion beam assembly 608. A middle base 604 is provided between the left base 603 and the right base 605, slidingly engaging with the propulsion beam assembly 608 and connected to the propulsion drive mechanism; under the action of the propulsion drive mechanism, the middle base 604 can move along the propulsion beam assembly 608. The rock drill 601 and the anchoring grouting power head 602 are slidably engaged with the left base 603, the middle base 604, and the right base 605 respectively via base locking blocks 606. The engagement relationship between the base locking blocks 606 and the three bases constitutes a transverse through-rail system: the top surfaces (or mating surfaces) of the transverse guide rails of the left base 603, the middle base 604, and the right base 605 are at the same horizontal level and are laterally collinear, allowing the base locking blocks 606 to slide smoothly laterally between the three bases along this through-rail. Mechanical limit blocks or buffer rubber pads are provided at both ends of the guide rail to prevent the base locking blocks 606 from sliding beyond the limit and derailing. The base locking blocks 606 are rigidly connected to the rock drill 601 and the anchoring grouting power head 602 via high-strength bolts, locating pins, or welding to ensure no relative displacement between the power head and the locking blocks during transverse sliding. Specifically, the position switching cylinder 607 drives the rock drill 601 and the anchoring grouting power head 602 to move between the left base 603, the middle base 604, and the right base 605 to switch positions. The position switching mechanism adopts a transverse three-position sliding layout, with the left base 603, the middle base 604, and the right base 605 arranged sequentially along the lower transverse direction (perpendicular to the longitudinal axis of the propulsion beam) of the propulsion beam assembly 608, forming a left-middle-right transversely arranged position matrix. This layout makes full use of the transverse space under the propulsion beam assembly, realizing the position switching and functional alternation of the rock drill 601 and the anchoring grouting power head 602 without increasing the longitudinal length of the propulsion beam.

[0036] like Figure 7As shown, in this embodiment, the propulsion drive mechanism 615 can adopt a motor-driven sprocket and chain mechanism. Specifically, the propulsion drive mechanism 615 includes a drive motor 6151 disposed at the lower part of the propulsion beam assembly 608 and a driven sprocket 6153 disposed at the upper part of the propulsion beam assembly 608. The output end of the drive motor 6151 is connected to a drive sprocket 6152. The drive sprocket 6152 and the driven sprocket 6153 are connected by a chain 6154. The middle base 604 is fixedly connected to the chain 6154. The chain 6154 drives the middle base 604 to move along the propulsion beam assembly 608. The drive motor is installed at the lower part of the propulsion beam assembly near the drilling and anchoring trolley (rear end), and the driven sprocket is installed at the upper part of the propulsion beam assembly away from the trolley (front end). The drive sprocket and the driven sprocket are arranged vertically and vertically along the longitudinal axis of the propulsion beam assembly, and the chain surrounds the two sprockets to form a closed-loop transmission system. The central base serves as the mounting carrier for the rock drill and / or the anchoring grouting power head. It is fixedly connected to specific links of the chain through rigid connecting parts (such as chain link clamps, pin seats, or fixing clamps). The reciprocating movement along the longitudinal direction of the propulsion beam assembly is achieved by the traction of the linear motion segment of the chain.

[0037] In this embodiment, as an optional solution, the anchor rod storage and retrieval mechanism includes an anchor rod magazine 611 located on one side of the propulsion beam assembly 608 and a drill rod manipulator 609 and an anchor rod manipulator 610 located on the propulsion beam assembly 608. A clamp 613 for gripping drill rods or anchor rods is provided on the upper part of the propulsion beam assembly 608. The anchor rod magazine 611 rotates under the drive of the magazine motor 612, facilitating the gripping of anchor rods by the anchor rod manipulator 610. The anchor rod magazine can be configured with multiple parallel storage troughs / memory bins. The anchor rod magazine is pre-filled with hollow grouting anchor rods or ordinary resin anchor rods classified according to specifications. The manipulator, driven by hydraulics or servo, removes a single anchor rod from the magazine and transfers it to the anchoring position, achieving automatic anchor rod feeding and reducing manual intervention. The drill rod manipulator is used to grip drill rods, and the clamp 613 is located on the upper part of the propulsion beam assembly 608 to limit the drill rod or anchor rod accordingly, improving its stability and positional accuracy.

[0038] Example 3, as Figure 3As shown, a TBM drilling, anchoring, and injection integrated machine device is further optimized based on Embodiment 2. In this embodiment, the circumferential motion mechanism includes an arc-shaped rail assembly 3 symmetrically arranged on the main beam 1. The arc-shaped rail assembly 3 is used to provide support and guidance for the left and right drilling, anchoring, and injection trolleys to climb and fall along the tunnel centerline. The drilling, anchoring, and injection trolleys include a left drilling, anchoring, and injection trolley 4 and a right drilling, anchoring, and injection trolley 5. Each of the left and right drilling, anchoring, and injection trolleys is fixed to an integrated drilling, anchoring, and injection machine, with built-in multi-joint drive. Each joint is equipped with a sensor for precise adjustment of the position and posture of the integrated drilling, anchoring, and injection machine. The left drilling, anchoring, and injection trolley 4 and the right drilling, anchoring, and injection trolley 5 respectively cooperate with the corresponding arc-shaped rail assembly 3 through a walking mechanism. The arc-shaped rail assembly 3 cooperates with the support rail 2 arranged on the main beam 1 through a walking wheel mechanism 7, and the arc-shaped rail assembly 3 is connected to the front and rear walking cylinders 8 arranged on the main beam 1. The walking wheel mechanism 7 is a wheeled structure for the integrated machine device to travel on the main beam. The forward and backward travel cylinders provide the pushing and pulling force for the drilling and anchoring device to move forward and backward, and the built-in stroke sensor controls the forward and backward position of the device. For example... Figure 9 As shown, the traveling wheel mechanism 7 includes wheel boxes 701 located at the upper and lower ends of the inner wall of the large gear ring 301. Rollers 702 are connected to the wheel boxes 701 via a first axle 703. The rollers 702 cooperate with the support rail 2. The rollers can be U-shaped grooved wheels to achieve stable contact with the support rail 2, thereby improving the stability of the drilling and anchoring trolley movement. The right-side drilling and anchoring trolley 5 is symmetrical to the left-side drilling and anchoring trolley 4, and operates on the same principle. Together, they enable the TBM to simultaneously carry two integrated drilling and anchoring machines 6, doubling the anchor bolt support efficiency.

[0039] like Figure 1 As shown, in this embodiment, the main beam 1 is also equipped with a synchronous hydraulic cylinder 9 and a saddle support system 11. The synchronous hydraulic cylinder ensures that the drilling, anchoring, and injection system is synchronized with the TBM excavation. One end of the synchronous hydraulic cylinder 9 is connected to the main beam 1, and the other end is connected to the saddle support system 11. The cylinder diameter and rod diameter of the synchronous hydraulic cylinder 9 are the same as those of the front and rear travel cylinders 8, and the large cavity of the synchronous hydraulic cylinder 9 is connected to the large cavity of the front and rear travel cylinders 8, while the small cavity of the synchronous hydraulic cylinder 9 is connected to the small cavity of the front and rear travel cylinders 8. When the TBM is excavating, because one side of the synchronous hydraulic cylinder 9 is connected to the saddle support system 11, the saddle support system is stationary relative to the tunnel. The main beam 1 moves in the excavation direction under the drive of the propulsion cylinder 10, driving the entire drilling, anchoring, and injection integrated machine to move forward as a whole. The synchronous hydraulic cylinder 9 extends, and at this time, the oil in the large cavity comes from the translation cylinder 8, which has the same cylinder diameter and rod diameter. That is, at this time, the translation cylinder 8 retracts, driving the drilling, anchoring, and injection integrated machine to remain stationary relative to the tunnel, thereby realizing drilling while excavating.

[0040] In this embodiment, as an optional solution, the drilling-anchor-injection integrated machine 6 is equipped with a posture detector or a posture recognition block 614. When using the posture recognition block 614, it is correspondingly set with the binocular camera 12 set on the main beam 1, serving as the recognition point of the binocular camera 12. The binocular camera is used to detect the posture data of the drilling-anchor-injection integrated machine and provide feedback to the control system. When using the posture detector, it is directly connected to the control system and used to detect the posture of the drilling-anchor-injection integrated machine. The control system controls the posture adjustment of each joint of the trolley to enable the drilling-anchor-injection integrated machine to reach the designated unknown anchor bolt support, and controls the drilling, anchoring, and injection processes of the drilling-anchor-injection integrated machine to be executed in an orderly, efficient, and precise manner. The drilling-anchor-injection integrated machine contains a station switching mechanism, a robotic arm, and other devices to complete the drilling, anchoring, and injection processes of the anchor bolt support. The workstation switching mechanism's workstation switching cylinder 607 has built-in sensors, and the left and right drilling-anchoring trolleys each have built-in sensors, which, together with the control system, control each joint to reach the preset anchor bolt support position. A binocular camera detects the posture feedback compensation control system of the drilling-anchoring integrated machine for fine-tuning and positioning. Finally, in conjunction with the workstation switching of the drilling-anchoring integrated machine and the robotic arm, the following is achieved: ① Drilling: After each joint reaches the preset position, the rock drill, with the drill bit and drill rod, precisely opens the hole and drills, and then cleans the hole; ② Anchoring: After switching to the anchoring position, the drilling-anchoring integrated machine anchors one anchor bolt from the anchor bolt magazine into the drilled hole; ③ Grouting: The grouting pump injects grout into the hole through the grouting pipeline, filling it completely. The grout coats the anchor bolt, and the anchor bolt top plate fixing bolts are tightened; the control system switches to the next workstation to continue construction. Therefore, the TBM anchor bolt support system equipped with this invention can achieve full automation, enabling less manpower for construction, reducing the labor risks associated with anchor bolt support during construction, and improving the efficiency of anchor bolt support.

[0041] Example 4, as Figure 3 , 4 As shown, a TBM drilling, anchoring, and injection integrated machine device is further optimized based on embodiment 3. In this embodiment, the arc-shaped rail assembly 3 includes a large gear ring 301 and arc-shaped rails 302 arranged on the left and right sides of the large gear ring 301. The arc-shaped rails 302 clamp the large gear ring 301 and are connected to the large gear ring by bolts. The left drilling, anchoring, and injection trolley 4 and the right drilling, anchoring, and injection trolley 5 both include a trolley frame 401. The traveling mechanism includes a motor reducer 404 arranged on the trolley frame 401. The motor reducer 404 is equipped with an encoder 417. The motor reducer 404 meshes with the large gear ring 301 through gear components. The motor reducer 404 achieves transmission meshing with the large gear ring 301 through gear components (single gear or multiple gears), thereby realizing the circumferential movement of the trolley frame 401 relative to the large gear ring 301.

[0042] Further optimization, such as Figure 5 , 8As shown, taking two gear components as an example: the gear components include a pinion 405 mounted on the motor reducer 404 and a driven gear 406 mounted on the trolley frame 401. The driven gear 406 meshes with the pinion 405 and the large gear ring 301 for transmission. Specifically, the motor reducer 404 is fixedly connected to the trolley frame 401, and the output end of the motor reducer is connected to the pinion 405. When the motor reducer rotates, it drives the pinion 405 to rotate. The encoder 417 is fixed on the pinion 405 and coaxial with the pinion 405, i.e., the motor reducer 404, to detect the number of rotations of the motor reducer. The driven gear 406 engages with a gear pin 407, which is fixed to the trolley frame 401. The pinion 405 meshes with the driven gear 406, driving the driven gear 406 to rotate around the gear pin 407. The driven gear meshes with the large gear ring 301 of the gear ring assembly, thereby realizing the climbing and lowering of the drilling and anchoring trolley around the large gear ring.

[0043] In this embodiment, guide roller assemblies corresponding to the arc-shaped tracks 302 are respectively provided on both sides of the trolley frame 401. Specifically, the guide roller assembly includes an inner roller 413, an outer roller 412, and a side roller 415. The inner roller 413 and the outer roller 412 are located on the inner and outer sides of the arc-shaped track 302, respectively, and the side roller 415 is located at the outer end of the arc-shaped track 302. Each roller pin 414 passes through the outer roller 412 and the inner roller 413 and is fixedly connected to the trolley frame 401 by a nut. The outer roller 412 and the inner roller 413 are respectively in contact with the outer and inner circular surfaces of the two arc-shaped tracks on both sides of the large gear ring, and roll on the arc-shaped tracks to stabilize the drilling and anchoring trolley when it climbs and falls. The drilling and anchoring trolley 4 has a side roller pin 416 fixed on its side. The side roller 415 rolls on the side of the arc track when the drilling and anchoring trolley climbs and falls, thereby preventing the drilling and anchoring trolley from tipping over.

[0044] In this embodiment, the trolley frame 401 is provided with a left-right swing mechanism, and the left-right swing mechanism is provided with a front-back swing mechanism. The left-right swing mechanism includes a swing member 402 hinged to the trolley frame 401, and the swing member 402 is connected to a left-right swing cylinder 408 provided on the trolley frame 401. The front-back swing mechanism includes a front-back swing cylinder 409 hinged to the swing member 402, and a fixing member 403 is provided on the front-back swing cylinder 409. The fixing member 403 is provided with a compensation cylinder 410 and a slider member 411 for connecting with the propulsion beam assembly 608. The slider member 411 is connected to the compensation cylinder 410. The drilling-anchoring-injection integrated machine 6 is slidably fixed on the fixing member 403 on the slider 411. One end of the compensation cylinder 410 is fixed on the drilling-anchoring-injection integrated machine 6. Through the extension and retraction of the compensation cylinder 410 in coordination with the slider 411, the drilling-anchoring-injection integrated machine 6 can slide and retract on the fixing member 403. The left-right swing mechanism adjusts the azimuth angle (yaw) of the propulsion beam in the horizontal plane, while the front-back swing mechanism adjusts the tilt angle (pitch) of the propulsion beam in the vertical plane. The compensation cylinder, through a slider component, enables linear fine-tuning of the drill bit position at the front end of the propulsion beam. These three components work together to form a complete closed-loop adjustment system for the spatial attitude and position of the propulsion beam, allowing it to precisely align with the target hole at any circumferential position and angle on the tunnel cross-section.

[0045] The swing component 402 is equipped with a left-right swing angle sensor 418, which is coaxial with the left-right swing cylinder 408 to detect the left-right swing angle. The fixed component 403 is equipped with a front-back swing angle sensor 419, which is coaxial with the front-back swing cylinder 409 to detect the front-back swing angle. Both cylinders can be equipped with built-in magnetostrictive displacement sensors or external wire encoders to provide real-time feedback of swing angle and slider displacement data. Combined with the rock surface point cloud data obtained from the tunnel cross-section 3D laser scanner, the target displacement values ​​of the left-right swing, front-back swing, and compensation cylinders can be automatically calculated via PLC or industrial computer, realizing automatic identification, calculation, and adjustment of the propulsion beam attitude. This mechanism provides a solid mechanical execution foundation for upgrading the TBM drilling-anchoring integrated machine to unmanned and intelligent anchor support.

[0046] In actual use, two integrated drilling, anchoring, and injection machines 6 are symmetrically arranged, one on the left drilling, anchoring, and injection trolley 4 and one on the right drilling, anchoring, and injection trolley 5. Taking the left side as an example, the following description is provided: When the binocular camera 12 detects the pose recognition block 614 on the integrated drilling, anchoring, and injection machine 6, the control system 14 detects the posture of the integrated drilling, anchoring, and injection machine 6 based on the collected pose information and the stroke sensors inside the front and rear travel cylinders 8, encoder 417, left and right swing angle sensor 418, and front and rear swing angle sensor 419. The control system then calculates the movement direction and angle of each joint of the left drilling, anchoring, and injection trolley 4, and controls the left drilling, anchoring, and injection trolley 4 to drive the integrated drilling, anchoring, and injection machine 6 to the preset pose. The binocular camera 12 then detects the pose of the integrated drilling, anchoring, and injection machine 6 again. If the position is within the preset error range, the next step is continued; otherwise, the pose is adjusted. Figure 8 As shown. After the drilling, anchoring and grouting integrated machine 6 reaches the predetermined position, the compensation cylinder 410 in the aforementioned left drilling, anchoring and grouting trolley 4 drives the drilling rig to press against the tunnel, and the drilling, anchoring and grouting integrated machine begins to work.

[0047] Example 5: A method for integrated TBM drilling, anchoring, and injection operations, such as... Figure 10 , 11 As shown, the TBM drilling, anchoring, and grouting integrated machine device described in Example 4 is used in the following specific steps: S1 Positioning: The drilling, anchoring, and grouting integrated machine 6 reaches the preset position to prepare for operation. At this time, the rock drill 601 with the drill rod is located on the middle base 604 of the work position switching mechanism; the work position switching mechanism realizes the rapid, accurate, and reliable work position switching between the rock drill and the anchoring and grouting power head.

[0048] S2 Drilling: The central base 604, driven by the propulsion drive mechanism 615, drives the rock drill 601 to drill into the rock strata to form a hole.

[0049] S3 Drilling complete: The central base 604, driven by the propulsion drive mechanism 615, drives the rock drill 601 back to the bottom of the propulsion beam assembly 608, and the drill rod manipulator 609 grabs the drill rod on the rock drill 601.

[0050] S4 Switching Plug Anchor Bolt Station: Under the action of the station switching cylinder 607, the anchoring grouting power head 602 switches from the left base 603 to the middle base 604, the rock drill 601 switches from the middle base 604 to the right base 605, the drill rod manipulator 609 grabs the drill rod connected to the rock drill 601 and swings it to the right station, and the anchor bolt manipulator 610 clamps the anchor bolt and swings it to the middle position, coaxially set with the anchoring grouting power head 602.

[0051] S5 Anchor Bolt Manipulator Return: The central base 604, driven by the propulsion drive mechanism 615, drives the anchor grouting power head 602 forward to connect with the anchor bolt held by the anchor bolt manipulator 610. Then the anchor bolt manipulator 610 releases and swings back to the left side position.

[0052] S6 Anchoring: Under the propulsion of the propulsion drive mechanism 615, the central base 604 continues to drive the anchoring grouting power head 602 forward, and the clamp 613 fully opens, pushing the anchor rod with the top plate and nut into the drilled hole in S2.

[0053] S7 Grouting: The control system 14 controls the grouting system 13 connected to the anchor grouting power head 602 to start. The grouting system 13 starts to inject grout into the bottom of the borehole through the internal cavity of the anchor rod until it is full. Then the anchor grouting power head 602 starts to rotate and tighten the nut on the anchor rod to fix the top plate of the anchor rod.

[0054] S8 Retraction: The central base 604, driven by the propulsion drive mechanism 615, drives the anchoring grouting power head 602 to retract backward.

[0055] S9 Anchor Rod Retrieval: Anchor rod magazine 611 rotates, anchor rod manipulator 610 retrieves the anchor rod from anchor rod magazine 611 and clamps the anchor rod back to its original position.

[0056] S10 Return to Position: The drilling, anchoring and grouting integrated machine 6 switches to the positioning posture: Under the action of the position switching cylinder 607, the anchoring and grouting power head 602 moves from the middle base 604 to the left base 603, the rock drill 601 moves from the right base 605 to the middle base 604, and the drill rod manipulator 607 holds the drill rod connected to the rock drill 601 and swings it to the middle position, then releases it and swings it back to the original position.

[0057] This invention discloses an integrated TBM drilling, anchoring, and grouting device and construction process, which automates the hollow grouting anchor support method in TBM construction. The fully mechanized operation can improve the anchor support efficiency. Through the action of synchronous hydraulic cylinders, TBM can be used for anchor support while excavating, achieving less or even no manpower in the operation process and reducing the risk of injury during support operations.

[0058] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A TBM drilling, anchoring, and injection integrated machine device, characterized in that: The system includes a drilling, anchoring, and grouting trolley and a drilling, anchoring, and grouting integrated machine (6) mounted on the trolley. The drilling, anchoring, and grouting trolley is connected to a circumferential motion mechanism mounted on the main beam (1). The drilling, anchoring, and grouting integrated machine (6) includes a propulsion beam assembly (608) connected to the drilling, anchoring, and grouting trolley. The propulsion beam assembly (608) is equipped with a propulsion drive mechanism (615), an anchor rod storage and retrieval mechanism, a rock drill (601) with switchable work positions, and an anchoring and grouting power head (602). The rock drill (601) performs drilling operations in conjunction with the drill rod and under the action of the propulsion drive mechanism (615). The anchoring and grouting power head (602) performs anchoring operations in conjunction with the anchor rod and under the action of the propulsion drive mechanism (615). The anchoring and grouting power head (602) performs grouting operations in conjunction with the grouting system (13).

2. The TBM drilling, anchoring, and injection integrated machine device according to claim 1, characterized in that: The lower part of the propulsion beam assembly (608) is provided with a work position switching mechanism. The work position switching mechanism includes a left base (603), a right base (605) and a work position switching cylinder (607) located at the lower part of the propulsion beam assembly (608). A middle base (604) is provided between the left base (603) and the right base (605). The middle base (604) is connected to the propulsion drive mechanism. The rock drill (601) and the anchoring grouting power head (602) slide and cooperate with the left base (603), the middle base (604) and the right base (605) respectively through the base locking block (606). The work position switching cylinder (607) pushes the rock drill (601) and the anchoring grouting power head (602) to move between the left base (603), the middle base (604) and the right base (605) to switch work positions.

3. The TBM drilling, anchoring, and injection integrated machine device according to claim 2, characterized in that: The propulsion drive mechanism (615) includes a push motor (6151) located at the lower part of the propulsion beam assembly (608) and a driven sprocket (6153) located at the upper part of the propulsion beam assembly (608). The output end of the push motor (6151) is connected to a drive sprocket (6152). The drive sprocket (6152) and the driven sprocket (6153) are connected by a chain (6154). The middle base (604) is fixedly connected to the chain (6154). The chain (6154) drives the middle base (604) to move along the propulsion beam assembly (608).

4. The TBM drilling, anchoring, and injection integrated machine device according to claim 3, characterized in that: The anchor bolt storage and retrieval mechanism includes an anchor bolt magazine (611) located on one side of the propulsion beam assembly (608) and a drill rod manipulator (609) and an anchor bolt manipulator (610) located on the propulsion beam assembly (608); the upper part of the propulsion beam assembly (608) is provided with a clamp (613) for clamping the drill rod or anchor bolt.

5. The TBM drilling, anchoring, and injection integrated machine device according to any one of claims 1 to 4, characterized in that: The circumferential motion mechanism includes an arc-shaped rail assembly (3) symmetrically arranged on the main beam (1); the drilling and anchoring trolley includes a left drilling and anchoring trolley (4) and a right drilling and anchoring trolley (5), the left drilling and anchoring trolley (4) and the right drilling and anchoring trolley (5) respectively cooperate with the corresponding arc-shaped rail assembly (3) through a traveling mechanism; the arc-shaped rail assembly (3) cooperates with the support rail (2) arranged on the main beam (1) through a traveling wheel mechanism (7), and the arc-shaped rail assembly (3) is connected to the front and rear traveling cylinders (8) arranged on the main beam (1).

6. The TBM drilling, anchoring, and injection integrated machine device according to claim 5, characterized in that: The arc-shaped rail assembly (3) includes a large gear ring (301) and arc-shaped rails (302) set on the left and right sides of the large gear ring (301); the left drilling and anchoring trolley (4) and the right drilling and anchoring trolley (5) both include a trolley frame (401), and the traveling mechanism includes a motor reducer (404) set on the trolley frame (401), and an encoder (417) is provided on the motor reducer (404); the motor reducer (404) meshes with the large gear ring (301) through gear components; the trolley frame (401) is provided with guide roller sets corresponding to the arc-shaped rails (302) on both sides.

7. The TBM drilling, anchoring, and injection integrated machine device according to claim 6, characterized in that: The gear assembly includes a pinion (405) mounted on the motor reducer (404) and a driven gear (406) mounted on the trolley frame (401). The driven gear (406) meshes with the pinion (405) and the large gear ring (301) for transmission. The guide roller assembly includes an inner roller (413), an outer roller (412), and a side roller (415). The inner roller (413) and the outer roller (412) are located on the inner and outer sides of the arc track (302), respectively, and the side roller (415) is located at the outer end of the arc track (302).

8. The TBM drilling, anchoring, and injection integrated machine device according to claim 5, characterized in that: The traveling wheel mechanism (7) includes wheel boxes (701) located at the upper and lower ends of the inner wall of the large gear ring (301). Rollers (702) are connected inside the wheel boxes (701) via the first wheel axle (703). The rollers (702) cooperate with the support rail (2).

9. The TBM drilling, anchoring, and injection integrated machine device according to claim 6, 7, or 8, characterized in that: The trolley frame (401) is provided with a left and right swing mechanism, and the left and right swing mechanism is provided with a front and back swing mechanism; the left and right swing mechanism includes a swing member (402) hinged to the trolley frame (401), and the swing member (402) is connected to a left and right swing cylinder (408) provided on the trolley frame (401); the front and back swing mechanism includes a front and back swing cylinder (409) hinged to the swing member (402), the front and back swing cylinder (409) is provided with a fixing member (403), the fixing member (403) is provided with a compensation cylinder (410) and a slider member (411) for connecting with the propulsion beam assembly (608), and the slider member (411) is connected to the compensation cylinder (410).

10. The TBM drilling, anchoring, and injection integrated machine device according to claim 9, characterized in that: The swing component (402) is provided with a left and right swing angle sensor (418), and the left and right swing angle sensor (418) is coaxial with the left and right swing cylinder (408); the fixed component (403) is provided with a front and back swing angle sensor (419), and the front and back swing angle sensor (419) is coaxial with the front and back swing cylinder (409).

11. The TBM drilling, anchoring, and injection integrated machine device according to claim 6 or 10, characterized in that: The main beam (1) is equipped with a synchronous hydraulic cylinder (9) and a saddle support shoe system (11). One end of the synchronous hydraulic cylinder (9) is connected to the main beam (1) and the other end is connected to the saddle support shoe system (11). The cylinder diameter and rod diameter of the synchronous hydraulic cylinder (9) are the same as those of the front and rear travel hydraulic cylinders (8). The large cavity of the synchronous hydraulic cylinder (9) is connected to the large cavity of the front and rear travel hydraulic cylinders (8), and the small cavity of the synchronous hydraulic cylinder (9) is connected to the small cavity of the front and rear travel hydraulic cylinders (8).

12. The TBM drilling, anchoring, and injection integrated machine device according to claim 1 or 11, characterized in that: The drilling, anchoring and injection machine (6) is equipped with a position detection instrument or a position recognition block (614). The position recognition block (614) is set in correspondence with the binocular camera (12) set on the main beam (1) and serves as the recognition point of the binocular camera (12).

13. A TBM drilling, anchoring, and injection integrated operation method, characterized in that: The TBM drilling, anchoring and injection integrated machine device according to claim 12 is used in the following steps: S1 Positioning: The drilling, anchoring and injection integrated machine (6) arrives at the preset position to prepare for operation. At this time, the rock drill (601) with drill rod is located on the middle base (604) of the work position switching mechanism. S2 Drilling: The central base (604) drives the rock drill (601) to drill into the rock strata under the propulsion of the propulsion drive mechanism (615) to form a borehole; S3 Drilling completed: The central base (604) drives the rock drill (601) back to the bottom of the propulsion beam assembly (608) under the propulsion of the propulsion drive mechanism (615), and the drill rod manipulator (609) grabs the drill rod on the rock drill (601); S4 Switching Plug Anchor Position: Under the action of the position switching cylinder (607), the anchoring grouting power head (602) switches from the left base (603) to the middle base (604), the rock drill (601) switches from the middle base (604) to the right base (605), the drill rod manipulator (609) grabs the drill rod connected to the rock drill (601) and swings it to the right position, and the anchor rod manipulator (610) clamps the anchor rod and swings it to the middle position, and is coaxially set with the anchoring grouting power head (602); S5 Anchor Rod Manipulator Return: The central base (604) drives the anchor grouting power head (602) forward under the propulsion of the propulsion drive mechanism (615), and docks with the anchor rod held by the anchor rod manipulator (610). Then the anchor rod manipulator (610) releases and swings back to the left side position. S6 Anchoring: The central base (604) continues to drive the anchoring grouting power head (602) forward under the push of the push drive mechanism (615), and the clamp (613) fully opens, pushing the anchor rod with top plate and nut into the drilled hole in S2; S7 Grouting: The control system (14) controls the grouting system (13) connected to the anchor grouting power head (602) to start. The grouting system (13) injects grout into the bottom of the borehole through the internal cavity of the anchor rod until it is full. Then the anchor grouting power head (602) starts to rotate and tighten the nut on the anchor rod to fix the top plate of the anchor rod. S8 retraction: The central base (604) is driven by the propulsion drive mechanism (615) to drive the anchoring grouting power head (602) to retract backward; S9 Take Anchor Rod: The anchor rod magazine (611) rotates, and the anchor rod robot (610) takes out the anchor rod from the anchor rod magazine (611) and clamps the anchor rod back to its original position; S10 Return to Position: The drilling, anchoring and grouting integrated machine (6) switches to the positioning posture as a whole: Under the action of the work position switching cylinder (607), the anchoring and grouting power head (602) moves from the middle base (604) to the left base (603), the rock drill (601) moves from the right base (605) to the middle base (604), the drill rod manipulator (607) holds the drill rod connected to the rock drill (601) and swings it to the middle position, then releases it and swings it back to the original position.

Images