WO2022227509A1

WO2022227509A1 - Automated construction method for anchor bolt

Info

Publication number: WO2022227509A1
Application number: PCT/CN2021/131572
Authority: WO
Inventors: 陈志良; 康红普; 姜鹏飞; 罗超; 王子越; 曹晓明; 郭吉昌; 韦尧中; 刘畅; 杨建威
Original assignee: 中煤科工开采研究院有限公司; 天地科技股份有限公司
Priority date: 2021-04-30
Filing date: 2021-11-18
Publication date: 2022-11-03
Also published as: CN113187527A; AU2021443833A1

Abstract

An automated construction method for an anchor bolt, the automated construction method comprising the following steps: using an oil pressure sensor for acquiring an oil pressure signal, and using a laser ranging sensor for acquiring an advancing signal of a drill box (5000); according to the oil pressure signal, controlling a support oil cylinder (6000) to drive a support plate (4200) to advance and stop moving, so as to support a tunnel wall and guide an anchor bolt (9); after the support plate stops moving, injecting water into the anchor bolt by using a water injection device; controlling a hydraulic motor (5100) on the drill box to rotate reversely, so as to drive the anchor bolt to rotate forwards; and according to at least one of the oil pressure signal and the advancing signal, controlling a drilling oil cylinder (7000) to drive the drill box to advance and stop moving, such that the anchor bolt, which rotates forwards, advances to drill. The automated construction method for an anchor bolt has the advantages of a high automation degree, a high anchor bolt supporting operation efficiency and low labor intensity for workers.

Description

Anchor bolt automatic construction method

CROSS-REFERENCE TO RELATED APPLICATIONS

The present disclosure claims the priority and rights of the Chinese patent application with application number 202110484173.5 and filing date on April 30, 2021, the entire contents of the above Chinese patent application are hereby incorporated by reference into the present disclosure.

technical field

Embodiments of the present disclosure relate to the technical field of bolt construction in coal mines, and in particular, to an automatic bolt construction method.

Background technique

The bolt construction process in the related technology mainly includes drilling, installing and stirring anchoring agent, installing trays and self-aligning ball washers, and pre-tightening the rod tail nut. The corresponding construction equipment is bolt drilling rig and torque wrench, which is manually completed. It is difficult to realize the automatic construction of bolts.

public content

An embodiment of the present disclosure proposes an automatic construction method for a bolt, which can realize automatic drilling, automatic anchoring and automatic preloading of the bolt, and thus has the advantages of good anchoring effect, high degree of automation, and automatic bolting. The advantages of high support operation efficiency and low labor intensity of workers.

An automated bolt construction method according to at least one embodiment of the present disclosure includes the following steps:

The oil pressure signal is collected by the oil pressure sensor, and the forward signal of the drilling box is collected by the laser ranging sensor;

According to the oil pressure signal, control the support oil cylinder to drive the support plate to move forward and stop, so as to support the roadway wall and guide the anchor rod;

After the support plate stops moving, use a water injection device to inject water into the anchor rod;

Control the reverse rotation of the hydraulic motor on the drill box, so as to drive the rock bolt to rotate forward;

According to at least one of the oil pressure signal and the advance signal, controlling the drilling oil cylinder to drive the drill box to advance and stop moving, so that the forward-rotating anchor rod advances the drilling;

Control the anchor pump to suck the slurry while the anchor rod advances the drilling;

controlling the hydraulic motor to stop reversing;

Controlling the water injection device to stop water supply, and controlling the anchor injection pump to stop absorbing slurry;

controlling the grouting of the anchor injection pump so as to anchor the anchor rod;

After the bolt is anchored, the hydraulic motor is controlled to rotate forward, so as to drive the preload nut to reverse, so as to realize the preload of the bolt;

Control the hydraulic motor to stop forward rotation according to the oil pressure signal;

After the hydraulic motor stops rotating forward, according to the oil pressure signal, the drilling oil cylinder is controlled to drive the drilling box to retreat and stop moving, so that the anchor rod is retreated; and

According to the oil pressure signal, the support oil cylinder is controlled to drive the support plate to retreat and stop moving, so that the support plate retreats.

According to the automatic construction method of the anchor rod according to the embodiment of the present disclosure, the anchor rod can be automatically pre-tightened, the anchor rod can be used for automatic anchoring, and the support oil cylinder and the drilling oil cylinder can be used for active drilling, so the anchoring effect is good, It has the advantages of high degree of automation, high bolt support operation efficiency and low labor intensity of workers.

In some embodiments, after the drilling box stops moving and before the controlling the water injection device to stop water supply, the hydraulic motor is controlled to stop reverse rotation according to an oil pressure signal.

In some embodiments, the oil pressure sensor includes:

A first pressure sensor and a second pressure sensor, the first pressure sensor is provided on one oil circuit of the support cylinder, and the second pressure sensor is provided on the other oil circuit of the support cylinder to monitor the support The feed pressure signal and retraction pressure signal of the oil cylinder;

A third pressure sensor and a fourth pressure sensor, the third pressure sensor is provided on one oil circuit of the drilling cylinder, and the fourth pressure sensor is provided on the other oil circuit of the drilling cylinder, so as to monitor all the the feed pressure signal and retraction pressure signal of the drilling cylinder; and

The fifth pressure sensor is arranged on an oil circuit of the hydraulic motor to monitor the rotational pressure signal of the hydraulic motor.

In some embodiments, the oil pressure signal includes a feed pressure signal and a retraction pressure signal of the support cylinder, a feed pressure signal and a retraction pressure signal of the drilling cylinder, and a rotational pressure signal of the hydraulic motor, The forward signal of the drill box is the forward speed of the drill box.

In some embodiments, according to the oil pressure signal, controlling the support cylinder to drive the support plate to move forward and to stop the movement includes:

monitoring and determining that the feed pressure of the support cylinder is less than a first threshold, and controlling the support cylinder to drive the support plate forward; and

Monitoring and determining that the feeding pressure of the support cylinder is greater than or equal to the first threshold value, and controlling the support cylinder to drive the support plate to stop moving.

In some embodiments, according to at least one of the oil pressure signal and the advance signal, controlling the drilling oil cylinder to drive the drilling box to move forward and stop the movement includes:

monitoring and determining that the feed pressure of the drilling cylinder is less than a second threshold value and/or monitoring and determining that the advancing speed of the drilling tank is greater than or equal to a third threshold value, and controlling the drilling cylinder to drive the drilling tank forward; and

Monitor and determine that the feeding pressure of the drilling cylinder is greater than or equal to a second threshold and/or monitor and determine that the forward speed of the drill box is less than a third threshold, and control the drilling cylinder to drive the drill box to stop moving.

In some embodiments, the controlling the hydraulic motor to stop reverse rotation according to the oil pressure signal includes:

After monitoring and determining that the rotational pressure of the hydraulic motor is less than or equal to the fourth threshold value and is stable for a preset time, the hydraulic motor is controlled to stop reverse rotation.

In some embodiments, the controlling the hydraulic motor to stop forward rotation according to the oil pressure signal includes:

Monitoring and determining that the rotational pressure of the hydraulic motor is greater than or equal to a fifth threshold value, and controlling the hydraulic motor to stop forward rotation.

In some embodiments, according to the oil pressure signal, controlling the drilling oil cylinder to drive the drilling box to retreat and stop moving includes:

monitoring and determining that the retraction pressure of the drilling cylinder is less than a sixth threshold, and controlling the drilling cylinder to drive the drilling box to retreat; and

Monitoring and determining that the retraction pressure of the drilling cylinder is greater than or equal to a sixth threshold value, and controlling the drilling cylinder to drive the drilling box to stop moving.

In some embodiments, the controlling the support oil cylinder to drive the support plate to retreat and stop moving according to the oil pressure signal includes:

monitoring and determining that the retraction pressure of the support cylinder is less than a seventh threshold, and controlling the support cylinder to drive the support plate to retreat; and

Monitoring and determining that the retracting pressure of the support cylinder is greater than or equal to a seventh threshold value, and controlling the support cylinder to drive the support plate to stop moving.

Description of drawings

Fig. 1 is the control flow chart of the bolt automatic construction method of the embodiment of the present disclosure

FIG. 2 is a schematic flow chart of an automatic bolt construction device.

Figure 3 is a schematic structural diagram of an automatic bolt construction device.

FIG. 4 is a schematic front view of the drill stand.

Figure 5 is a schematic front view of the anchor pump.

Figure 6 is a schematic left side view of the anchor pump.

FIG. 7 is a schematic top view of the anchor pump.

Fig. 8 is a three-dimensional schematic diagram of the drill box.

FIG. 9 is a schematic view of the front structure of the drill box.

Figure 10 is a schematic cross-sectional view of the drill box.

FIG. 11 is a partial enlarged view of FIG. 10 .

FIG. 12 is a schematic structural diagram of the anchor rod in FIG. 8 .

FIG. 13 is a schematic structural diagram of the end of the second shaft away from the anchor rod in FIG. 8 .

FIG. 14 is a front view of the check valve of FIG. 10 .

FIG. 15 is a cross-sectional view taken along line A-A of FIG. 14 .

FIG. 16 is a top view of the check valve of FIG. 10 .

Fig. 17 is the structural representation of the rod body;

Figure 18 is a schematic cross-sectional view of the rod body

Reference number:

Anchor pump 1000;

Integrated cylinder 100; first plunger cavity 101; second plunger cavity 102; first inlet pipe 103; first outlet pipe 104; second inlet pipe 105; second outlet pipe 106; piston cavity 110; rod cavity 111; rodless cavity 112; first piston rod 120; sealing plug 121; first connecting rod 122; first plunger 130; second connecting rod 131; second plunger 140; third connecting rod 141; first guide seal sleeve 150; second guide seal sleeve 160; third guide seal sleeve 170; cover plate 180; screw 190;

Linkage 200; first connecting hole 201; second connecting hole 202; third connecting hole 203; first nut 210; second nut 220;

Oil inlet and outlet 300; first oil inlet and outlet 301; second oil inlet and outlet 302; first oil inlet and outlet pipe 310; second oil inlet and outlet pipe 320;

The first reversing valve 2100; the oil inlet 2110; the first working oil port 2120; the second working oil port 2130; the oil drain port 2140;

The first grouting pipe 3100; the first one-way valve 3110; the second grouting pipe 3200; the second one-way valve 3210; the first grouting pipe 3300; the third one-way valve 3310; Four check valves 3410; first storage tank 3500; second storage tank 3600;

Drill stand 4000; base plate 4100; support plate 4200;

Drill box 5000; hydraulic motor 5100; water injection pipe 5200; bolt connecting pipe 5300; fifth pressure sensor 5400;

seat 1; base 1001; mounting seat 1002; bearing 1003; driver 2; first transmission member 31; second transmission member 32; first sealing member 41; second sealing member 42; check valve 5; valve cavity 50; valve body 51; inlet 511; outlet 512; valve core 52; valve core body 521; cylindrical connecting section 522; ring magnet 53; valve seat 54; first end 55; second end 56; Limiting part 58; magnet mounting plate 59; anti-rotation frame 6; elastic part 7; retaining ring 8; adjusting cylinder 801; adjusting frame 802; anchor rod 9; limit block 91; pre-tightening nut 92; ; Tray 94; Rod 95; First end 951; Second end 952; Third through hole 953; ; first end 11; second end 12; first through hole 13; second shaft 20; first end 21; second end 22; second through hole 23; first part 24; second part 25; 26;

Support cylinder 6000; first balance valve 6100; first pressure sensor 6200; second pressure sensor 6300;

Drilling oil cylinder 7000; second balance valve 7100; third pressure sensor 7200; fourth pressure sensor 7300;

Electro-hydraulic proportional multi-way valve 8000; first connection 8100; first oil inlet connection 8200; second oil inlet connection 8300; third oil inlet connection 8400; tail connection 8500.

Detailed ways

Embodiments of the present disclosure are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary, and are intended to explain the present disclosure and should not be construed as a limitation of the present disclosure.

The automatic construction method of the bolt according to the embodiment of the present disclosure will be described below with reference to the accompanying drawings.

As shown in FIG. 1 , the automated construction method for an anchor rod according to an embodiment of the present disclosure includes the following steps:

According to the oil pressure signal, control the support cylinder to drive the support plate to move forward and stop, so as to support the roadway wall and guide the bolt;

After the support plate stops moving, use the water injection device to inject water into the bolt;

Control the reverse rotation of the hydraulic motor on the drill box, so as to drive the bolt to rotate forward;

According to at least one of the oil pressure signal and the advance signal, the drilling oil cylinder is controlled to drive the drill box to move forward and to stop moving, so that the forward-rotating anchor rod advances the drilling;

Control the anchor pump to suck the grout while the anchor rod moves forward to drill the hole;

According to the oil pressure signal, control the hydraulic motor to stop the reverse rotation;

Control the water injection device to stop water supply, and control the anchor injection pump to stop absorbing slurry;

Control the grouting of the anchor injection pump, so as to inject the anchor bolt;

After the hydraulic motor stops rotating forward, according to the oil pressure signal, the drilling oil cylinder is controlled to drive the drill box to retreat and stop moving, so that the anchor rod is retracted; and

According to the oil pressure signal, the supporting cylinder is controlled to drive the supporting plate to retreat and stop moving, so that the supporting plate can retreat.

In some embodiments, the oil pressure sensor of the bolt automated construction method of the embodiments of the present disclosure includes:

The first pressure sensor and the second pressure sensor, the first pressure sensor is set on one oil circuit of the support cylinder, and the second pressure sensor is set on the other oil circuit of the support cylinder, so as to monitor the feed pressure signal and the return pressure signal of the support cylinder ;

The third pressure sensor and the fourth pressure sensor, the third pressure sensor is arranged on one oil circuit of the drilling oil cylinder, and the fourth pressure sensor is arranged on the other oil circuit of the drilling oil cylinder, so as to monitor the feed pressure signal of the drilling oil cylinder and the return pressure signal; and

In some embodiments, the oil pressure signal of the bolt automated construction method of the embodiment of the present disclosure includes a feed pressure signal and a retraction pressure signal of a support oil cylinder, a feed pressure signal and a retraction pressure signal of a drilling oil cylinder, and the rotation of the hydraulic motor Pressure signal, the forward signal of the drill box is the forward speed of the drill box.

In some embodiments, according to the oil pressure signal, controlling the support cylinder to drive the support plate to advance and stop the movement includes: monitoring and determining that the feed pressure of the support cylinder is less than a first threshold, controlling the support cylinder to drive the support plate to move forward; and monitoring and determining the support When the feeding pressure of the oil cylinder is greater than or equal to the first threshold value, the supporting oil cylinder is controlled to drive the supporting plate to stop moving.

It can be understood that when the support cylinder reaches the limit position, the feed pressure of the support cylinder increases, and when the feed pressure of the support cylinder is greater than or equal to the first threshold, the support cylinder is controlled to drive the support plate to stop moving. Therefore, the automatic feeding of the support cylinder can be realized.

In some embodiments, according to at least one of the oil pressure signal and the advance signal, controlling the drilling cylinder to drive the drill box to advance and stop the movement includes: monitoring and determining that the feed pressure of the drilling cylinder is less than a second threshold and/or monitoring and determine that the forward speed of the drill box is greater than or equal to a third threshold, and control the drilling cylinder to drive the drill box to advance; and monitor and determine that the feed pressure of the drilling cylinder is greater than or equal to the second threshold and/or monitor and determine the advancement of the drill box When the speed is less than the third threshold, the drilling oil cylinder is controlled to drive the drilling box to stop moving.

It can be understood that when the drilling oil cylinder reaches the limit position, the feed pressure of the drilling oil cylinder increases, and the forward speed of the drill box decreases. When either condition is satisfied, the drilling oil cylinder is controlled to drive the drill box to stop. move. Therefore, automatic feeding of the drilling cylinder can be realized.

In some embodiments, according to the oil pressure signal, controlling the hydraulic motor to stop reverse rotation includes: monitoring and determining that the rotational pressure of the hydraulic motor is less than or equal to a fourth threshold and stabilized for a preset time, and then controlling the hydraulic motor to stop reverse rotation.

It can be understood that after the drilling cylinder stops feeding, the drilling work may not be completed. When the rotational pressure of the hydraulic motor is less than or equal to the fourth threshold, it can only be determined that the drilling is basically completed, but there may be residual sand in the drilling. Stone or soil, when the rotational pressure of the hydraulic motor is stable for a preset time, the drilling work can be determined to be completed. Therefore, the completion of the drilling work can be assured.

In some embodiments, according to the oil pressure signal, controlling the hydraulic motor to stop forward rotation includes: monitoring and determining that the rotational pressure of the hydraulic motor is greater than or equal to a fifth threshold, and controlling the hydraulic motor to stop forward rotation.

It can be understood that when the preloading work is completed, the resistance of the anchor rod increases, and the rotational pressure of the hydraulic motor will also increase. When the rotational pressure of the hydraulic motor is greater than or equal to the fifth threshold, it means that the preloading work is completed and the control The hydraulic motor stops rotating forward. Therefore, automatic preloading can be achieved.

In some embodiments, according to the oil pressure signal, controlling the drilling cylinder to drive the drill box to retreat and stop the movement includes: monitoring and determining that the retraction pressure of the drilling cylinder is less than a sixth threshold, and controlling the drilling cylinder to drive the drill box to retreat; It is determined that the retraction pressure of the drilling cylinder is greater than or equal to the sixth threshold, and the drilling cylinder is controlled to drive the drilling box to stop moving.

It can be understood that when the drilling oil cylinder reaches the limit position, the retraction pressure of the drilling oil cylinder increases, and the retraction speed of the drill box decreases. When either condition is satisfied, the drilling oil cylinder is controlled to drive the drill box to stop moving. . Therefore, automatic retraction of the drilling cylinder can be realized.

In some embodiments, according to the oil pressure signal, controlling the support cylinder to drive the support plate to retreat and stop the movement includes: monitoring and determining that the retraction pressure of the support cylinder is less than a seventh threshold, and controlling the support cylinder to drive the support plate to retreat; and monitoring and determining the support cylinder The retracting pressure is greater than or equal to the seventh threshold value, and the support oil cylinder is controlled to drive the support plate to stop moving.

It can be understood that when the support cylinder reaches the limit position, the return pressure of the support cylinder increases, and when the return pressure of the support cylinder is greater than or equal to the first threshold, it means that the support plate has returned to the designated position, and the support cylinder is controlled to drive the support plate to stop. move. Therefore, the automatic retraction of the support cylinder can be realized.

The automatic bolt construction device will be described below with reference to FIGS. 2 to 18 .

It should be noted that, the automatic bolt construction method of the embodiment of the present disclosure is completed by means of an automatic bolt construction device.

The bolt automatic construction device includes drill box 5000, hydraulic oil cylinder, signal detector, drill frame and controller. Drill box 5000, hydraulic oil cylinder and signal detector are all arranged on the drill frame.

As shown in FIGS. 2-4 , the hydraulic cylinder includes a support cylinder 6000 and a drilling cylinder 7000 .

The support cylinder 6000 is used to support the roadway wall and guide the bolt. The drilling oil cylinder 7000 is used to drive the drilling box 5000 to move in a direction adjacent to or away from the roadway wall. That is to say, the supporting oil cylinder 6000 is supported to the roadway wall, the drilling box 5000 drives the bolt to rotate, and the drilling oil cylinder 7000 drives the drilling box 5000 to drill.

As shown in FIG. 2 , the signal detector includes at least one of an oil pressure sensor and a laser ranging sensor, and the signal detector is used to detect the drilling state of the drill box 5000 . The controller can receive the feedback signal of the signal detector, and is used to control the working state of the drilling oil cylinder 7000 .

Therefore, the bolt automatic construction device can control the drilling box 5000 to actively drill and retreat.

As shown in FIGS. 8-18 , the drill box 5000 includes a base 1 , a driver 2 , a first shaft 10 , a second shaft 20 and an anchor rod 9 .

The first shaft 10 is rotatably mounted on the base 1, the first shaft 10 has a first end 11 and a second end 12 opposite to each other in its axial direction, and the first shaft 10 is provided with a first end 11 penetrating along its axial direction. A through hole 13 .

The driver 2 is connected with the first shaft 10 to drive the first shaft 10 to rotate, and the driver is a hydraulic box.

The second shaft 20 is movably inserted into the first through hole 13 along its axial direction, and the second shaft 20 has an initial position adjacent to the first end 11 of the first shaft 10 . At least a part of the second shaft 20 is in sealing fit with the first through hole 13 , the second shaft 20 is provided with a plurality of second through holes 23 penetrating along its axial direction, and the plurality of second through holes 23 are spaced apart and each Each of the second through holes 23 is provided with a check valve 5 therein.

The anchor rod 9 includes a rod body 95 , a drill bit 96 , a preload nut 92 and a limit block 91 . The rod body 95 is coaxial with the first shaft 10 . The rod body 95 is provided with a third through hole 953 penetrating along its axial direction, and the third through hole 953 can communicate with each of the second through holes 23 .

The rod body 95 is spaced apart from the second shaft 20 in its axial direction, the rod body 95 is disposed adjacent to the first end 11 of the first shaft 10 relative to the second shaft 20 in its axial direction, and the limit block 91 is located in the axial direction of the rod body 95 . between the preload nut 92 and the second shaft 20 .

An outer thread is provided on the outer peripheral surface of the rod body 95 , and the pre-tightening nut 92 is threadedly fitted on the rod body 95 and is connected to the first shaft 10 in a sealing manner. The limiting block 91 is movably disposed in the first through hole 13 along the axial direction of the first shaft 10 and is connected with the rod body 95 . Each of the preload nut 92 and the stopper 91 has a first face and a second face opposite in the axial direction of the anchor rod 9 . When the first shaft 10 drives the preload nut 92 to rotate in the first direction, the first surface of the limiting block 91 abuts against the second surface of the preload nut 92, so that the preload nut 92 drives the rod body 95 to rotate in the first direction. When the first shaft 10 drives the preload nut 92 to rotate in the second direction opposite to the first direction, the preload nut 92 exerts a preload force on the rod body 95 away from the first end 11 of the first shaft 10 , and the limit block 91 The second shaft 20 can be pushed to move away from the first end 11 of the first shaft 10 .

The process of the drilling box for the bolt support operation is as follows:

First, the driver 2 is used to drive the first shaft 10 to rotate in the first direction, and the preload nut 92 is driven to rotate in the first direction through the first shaft 10, so as to drive the rod body 95 to rotate in the first direction through the preload nut 92, and then use the anchor The drill bit 96 of the rod 9 drills the hole. During the drilling process, high pressure water is passed into at least one second through hole 23 of the second shaft 20 , the high pressure water enters the third through hole 953 through the check valve 5 and flows out from the drill bit 96 to discharge the cinder. Due to the sealing between the second shaft 20 and the first through hole 13 and the sealing between the anchor rod 9 and the first through hole 13 , high-pressure water will not flow out.

Then, after the drilling is completed, the driver 2 stops rotating, and at the same time, the high-pressure water flow into the second through hole 23 is stopped. An anchoring agent is passed into the at least one second through hole 23, the anchoring agent enters the third through hole 953 through the check valve 5 and finally enters the third through hole 953 of the rod body 95 of the anchor rod 9 and the rod body 95 and the surrounding rock. in the gap between. Due to the sealing between the second shaft 20 and the first through hole 13 and the sealing between the anchor rod 9 and the first through hole 13 , the anchoring agent will not flow out. After a set amount of anchoring agent is passed into the drilled hole through the third through hole 953 , the anchoring agent is stopped to pass into the third through hole 953 .

Finally, after the anchoring agent in the drilled hole is solidified, the driver 2 is used to drive the first shaft 10 to rotate in the second direction, and the first shaft 10 drives the preload nut 92 to rotate in the second direction, so that the preload nut 92 is opposite to the rod body. The 95 applies a pre-tensioning force facing away from the first end 11 of the first shaft 10 to realize the pre-tensioning of the anchor rod 9 . During the preloading process, each of the rod body 95 and the limit block 91 moves toward the first end 11 of the first shaft 10 , and the limit block 91 can push the second shaft 20 away from the first shaft 10 . The end 11 is moved so that the second shaft 20 does not interfere with the preload of the bolt 9 .

Therefore, the drilling box can be used to realize the drilling, anchoring and pre-tightening operations in the bolt support operation, and the drill pipe does not need to be disassembled during the operation, and there is no need to switch between different tools. Compared with the bolt support operation in the related art, it not only effectively shortens the operation time, improves the bolt support operation efficiency, but also reduces the labor intensity of workers.

When the anchoring agent is injected into the drilled hole through the second through hole 23 , the anchoring agent passes through the second through hole 23 , the check valve 5 , the first through hole 13 and the third through hole 953 in sequence, and finally flows into the drilled hole. The multifunctional bolt support construction device 1000 according to the disclosed embodiment utilizes the second shaft 20 to be movable along its axial direction, so that the initial position of the second shaft 20 can be set closer to the bolt 9, thereby not only reducing the The amount of the anchoring agent in the first through hole 13 saves the amount of anchoring agent; and the thickness of the anchoring agent in the first through hole 13 can be reduced, so as to prevent the solidified anchoring agent in the first through hole 13 from blocking the first through hole 13 after the anchoring agent is solidified. A through hole 13 affects the next operation of the multifunctional bolt support construction device 1000 .

In some embodiments, as shown in Figures 17 and 18, the bolt further includes a mixer for mixing the anchoring agent. The rod body includes a first section 954 and a second section 955, the first section 954 is adjacent to the second shaft in the axial direction of the rod body, the second section 955 is away from the second shaft in the axial direction of the rod body, and the external thread is provided in the first section 954 The outer peripheral surface of the second section 955 is provided with a helical transverse rib. The mixer is arranged in the part corresponding to the first section 954 of the third through hole. The mixer includes a central shaft and a helical blade that are fixedly connected as a whole. The central shaft is coaxial with the rod body, and the helical blades are arranged around the central shaft. . The spiral transverse rib is helpful for the drilling of the bolt, and the cyclone can mix the anchoring agent, so it has the advantages of high drilling efficiency and good anchoring effect.

In some embodiments, as shown in FIGS. 2-7 , the automatic bolt construction device further includes a water injection device, an anchor injection pump and a slurry delivery device.

As shown in FIG. 3 , the water injection device includes a water injection pipe 5200 . The water injection pipe 5200 is provided with an electromagnetic water ball valve, one end of the water injection pipe 5200 is connected to the water tank, and the other end of the water injection pipe 5200 is connected to the bolt through the bolt connecting pipe 5300 . Therefore, the water injection pipe 5200 can cool the bolt when the bolt is drilling, thereby improving safety and reliability.

As shown in Figures 2 and 3, the slurry delivery device includes a first reversing valve 2100, a first storage tank 3500, a second storage tank 3600, a first slurry feeding pipe 3300, a first grouting pipe 3100, and a second slurry feeding pipe Tube 3400 and second grouting tube 3200.

As shown in FIG. 2 , the first reversing valve 2100 is used to control the up and down movement of the first piston rod, the first storage tank 3500 is used to store the component A of the anchoring agent, and the second storage tank 3600 is used to store the component B of the anchoring agent .

One end of the first grouting pipe 3300 is connected to the first storage tank 3500, the other end of the first grouting pipe 3300 is connected to the first inlet pipe, one end of the first grouting pipe 3100 is connected to the first outlet pipe, and the first The other end of the slurry pipe 3100 is connected to one of the plurality of second through holes, so that the anchoring agent A component in the first storage tank 3500 is injected into the bolt through the first plunger cavity, so that the anchoring agent A component is injected into the anchor rod. It is suitable for injection into the roadway wall through the bolt.

One end of the second slurry feeding pipe 3400 is connected to the second storage tank 3600, the other end of the second slurry feeding pipe 3400 is connected to the second inlet pipe, one end of the second slurry feeding pipe 3200 is connected to the second outlet pipe, and the second injection pipe 3200 is connected to the second outlet pipe. The other end of the slurry pipe 3200 is connected with another one of the plurality of second through holes, so that the anchoring agent B component in the second storage tank 3600 is injected into the anchor rod through the second plunger cavity, so as to inject the anchoring agent B into the anchor rod. The components are suitable for injection into the roadway wall through the bolt.

As shown in FIGS. 5-7 , the anchor pump 1000 includes an integrated cylinder 100 , a first plunger 130 , a second plunger 140 , a linkage 200 and a first piston rod 120 .

As shown in FIG. 5 , the integrated cylinder 100 has a piston cavity 110 , a first plunger cavity 101 , a second plunger cavity 102 , a first inlet pipe 103 , a first outlet pipe 104 , a second inlet pipe 105 and a second outlet Tube 106, each of first inlet tube 103 and first outlet tube 104 communicates with the bottom of first plunger cavity 101, and each of second inlet tube 105 and second outlet tube 106 communicates with the second column The bottoms of the plug chambers 102 communicate with each other, and the first and

second piston chambers

101 and 102 are arranged at intervals in the left-right direction.

The piston cavity 110 is located between the first plunger cavity 101 and the second plunger cavity 102 in the left-right direction, and the first plunger cavity 101 and the second plunger cavity 102 are symmetrical about the center line of the piston cavity 110 .

The first inlet pipe 103 and the first outlet pipe 104 are arranged opposite to each other in the left-right direction, and the second inlet pipe 105 and the second outlet pipe 106 are arranged opposite to each other in the left-right direction.

At least part of the first plunger 130 protrudes into the first plunger cavity 101 , and the first plunger can move up and down relative to the integrated cylinder 100 , so that the anchoring agent enters the first plunger cavity 101 from the first inlet pipe 103 at the bottom and exit from the first outlet pipe 104 .

At least part of the second plunger 140 protrudes into the second plunger cavity 102 , and the second plunger can move up and down relative to the integrated cylinder 100 , so that the anchoring agent enters the second plunger cavity 102 from the second inlet pipe 105 at the bottom and exit from the second outlet pipe 106 .

It can be understood that, the first inlet pipe 103, the first outlet pipe 104, the second inlet pipe 105 and the second outlet pipe 106 can all be provided with one-way valves, so as to control an anchoring agent from the first inlet pipe 103 to enter the first The bottom of the plunger cavity 101 is discharged from the first outlet tube 104 , and another anchoring agent enters the bottom of the second plunger cavity 102 from the second inlet tube 105 and is discharged from the second outlet tube 106 .

In the embodiment of the present disclosure, as shown in FIG. 2 , the bolt automatic construction device of the embodiment of the present disclosure includes a first one-way valve 3110 , a second one-way valve 3210 , a third one-way valve 3310 and a fourth one-way valve 3410.

The first one-way valve 3110 is provided on the first grouting pipe 3100, so that the component A of the anchoring agent is injected into the bolt. The second one-way valve 3210 is provided on the second grouting pipe 3200, so that the B component of the anchoring agent is injected into the bolt. The third one-way valve 3310 is provided on the first slurry feeding pipe 3300, so that the component A of the anchoring agent can enter the first plunger cavity. The fourth one-way valve 3410 is provided on the second slurry feeding pipe 3400, so that the B component of the anchoring agent can enter the second plunger cavity.

The linkage 200 is located above the integrated cylinder 100 , each of the first piston rod 120 , the first plunger 130 and the second plunger 140 is connected to the linkage 200 , and at least part of the first piston rod 120 is located in the piston cavity 110, and the first piston rod 120 can move up and down relative to the integrated cylinder 100 under the driving of hydraulic oil entering and exiting the piston cavity 110, so as to drive the linkage 200 to move up and down, thereby driving the first plunger 130 and the second plunger 140. Each of them moves up and down.

The first piston rod, the first plunger and the second plunger are integrated on the integrated cylinder, reducing the size of the anchor pump 1000, and the first piston rod is driven by hydraulic oil and is not affected by air pressure, and has a simple structure, Easy to use, low cost to make and maintain.

In addition, the bolt automatic construction device can use the mixer 97 in the bolt to mix the A component and the B component of the anchoring agent 1:1 uniformly, so that the anchoring agent component A and the anchoring agent component B are strictly in accordance with 1:1 The proportion of injection into the roadway wall can improve the anchoring effect.

As shown in FIGS. 5-7 , the lower end of the first piston rod 120 of the anchor pump 1000 is a sealing plug 121 extending into the piston cavity 110 , and the upper end of the first piston rod 120 is a first connection with the linkage 200 Rod 122 , the upper end of the first plunger 130 is the second connecting rod 131 connected with the linkage 200 , and the upper end of the second plunger 140 is the third connecting rod 141 connected with the linkage 200 .

As shown in FIG. 5 , the linkage 200 includes a first connection hole 201 , a second connection hole 202 and a third connection hole 203 .

The first connecting rod 122 extends into the first connecting hole 201 to be connected with the linkage 200 , and the length of the first connecting rod 122 extending into the first connecting hole 201 is adjustable.

In the embodiment of the present disclosure, the first connecting rod 122 is a threaded rod, and the first connecting hole 201 is a threaded hole matched with the threaded rod, so as to adjust the length of the second connecting rod 131 extending into the second connecting hole 202 .

The second connecting rod 131 extends into the second connecting hole 202 to be connected with the linking member 200 . In the embodiment of the present disclosure, the second connecting rod 131 passes through the second connecting hole 202 , the upper end of the second connecting rod 131 is provided with an external thread and is matched with the first nut 210 , and the lower end of the second connecting rod 131 is provided with the first nut 210 . Limiting portion, the first nut 210 is located above the linkage member 200 and abuts against the upper surface of the linkage member 200, the first limiting portion is located below the linkage member 200 and abuts against the lower surface of the linkage member 200, so as to define the second connecting rod 131 extends into the length of the second connection hole 202 .

The third connecting rod 141 extends into the third connecting hole 203 to be connected with the linking member 200 . In the embodiment of the present disclosure, the third connecting rod 141 passes through the third connecting hole 203 , the upper end of the third connecting rod 141 is provided with an external thread and is matched with the second nut 220 , and the lower end of the third connecting rod 141 is provided with a second Limiting portion, the second nut 220 is located above the linkage member 200 and abuts against the upper surface of the linkage member 200, the second limiting portion is located below the linkage member 200 and abuts against the lower surface of the linkage member 200, so as to define the third connecting rod 141 extends into the length of the third connection hole 203 .

The length of the first connecting rod 122 of the anchor pump 1000 extending into the first connecting hole 201 can be adjusted, that is, the height of the linkage 200 relative to the first piston rod 120 can be adjusted, and the linkage 200 and the first plunger 130, the first piston rod 120 can be adjusted. The relative heights of the two plungers 140 remain unchanged. Therefore, within one reciprocating stroke of the first piston rod 120, the strokes of the first plunger 130 and the second plunger 140 can be adjusted, so that within one reciprocating stroke of the first piston rod 120, the anchor pump 1000 can pump volume of anchoring agent.

As shown in FIG. 5 , the anchor pump 1000 further includes a first guide seal sleeve 150 , a second guide seal sleeve 160 , a third guide seal sleeve 170 and a cover plate 180 .

The first guide sealing sleeve 150 is located in the piston cavity 110 and is provided on the upper part of the piston cavity 110 so as to block the upper part of the piston cavity 110 , and the first piston rod 120 passes through the first guide sealing sleeve 150 .

The second guide sealing sleeve 160 is located in the first plunger cavity 101 and is provided on the upper part of the first plunger cavity 101 so as to block the upper part of the first plunger cavity 101 , and the first plunger passes through the second guide sealing sleeve 160 .

The third guide sealing sleeve 170 is located in the second plunger cavity 102 and is provided on the upper part of the second plunger cavity 102 so as to block the upper part of the second plunger cavity 102 , and the second plunger passes through the third guide sealing sleeve 170 .

The cover plate 180 is provided on the upper end of the integrated cylinder block 100, and the cover plate 180 is fixedly connected with the integrated cylinder block 100 by screws, so as to limit the first guide sealing sleeve 150, the second guide sealing sleeve 160 and the third limit sealing sleeve.

In some embodiments, as shown in FIGS. 6 and 7 , the anchor pump 1000 further includes an oil inlet and outlet member 300 , a first oil inlet and outlet pipe 310 and a second oil inlet and outlet pipe 320 .

The oil inlet and outlet member 300 is fixed on one side of the integrated cylinder block 100 , and the oil inlet and outlet member 300 has a first oil inlet and outlet port 301 and a second oil inlet and outlet port 302 . One end of the first oil inlet and outlet pipe 310 is communicated with the rod cavity 111 of the piston chamber 110 , the other end of the first oil inlet and outlet pipe 310 is communicated with the first oil inlet and outlet port 301 , and one end of the second oil inlet and outlet pipe 320 is connected with the rodless cavity of the piston chamber 110 . 112 , and the other end of the second oil inlet and outlet pipe 320 is communicated with the second oil inlet and outlet port 302 , so that the hydraulic oil enters and leaves the piston cavity 110 .

The anchor pump 1000 uses a hydraulic system instead of an air pressure system to drive the first plunger 130 and the second plunger 140 to work, is not affected by air pressure, has a simple structure, and is easy to control.

In some embodiments, as shown in FIG. 3 , the automatic bolt construction device further includes a second reversing valve, a third reversing valve and a fourth reversing valve. The second reversing valve is used to control the extension or retraction of the second piston rod of the drilling oil cylinder 7000 . The third reversing valve is used to control the extension or retraction of the third piston rod of the support oil cylinder 6000 . The fourth reversing valve is used to control the forward or reverse rotation of the hydraulic motor 5100 .

In some embodiments, as shown in FIG. 2 , the first reversing valve 2100 has an oil inlet port 2110 , a first working oil port 2120 , a second working oil port 2130 and an oil drain port 2140 . The oil inlet 2110 is communicated with the oil source P, the oil drain port 2140 is communicated with the fuel tank T, the first working oil port 2120 is communicated with the first oil inlet and outlet 301 , and the second working oil port 2130 is communicated with the second oil inlet and outlet 302 . Thereby, the first selector valve 2100 can control the vertical movement of the first piston rod.

As shown in FIG. 2 , a speed regulating valve 2200 is provided on the oil circuit between the oil inlet 2110 and the oil source P, and a first overflow is provided on the oil circuit between the first working oil port 2120 and the first oil inlet and outlet 301 The valve 2300 is provided with a second relief valve 2400 on the oil circuit between the second working oil port 2130 and the second oil inlet and outlet ports 302 .

The speed regulating valve 2200 can limit the flow and pressure of the hydraulic oil entering the oil inlet 2110 to remain unchanged, which is beneficial to the working stability of the first reversing valve 2100 and the anchor pump 1000 .

The first relief valve 2300 and the second relief valve 2400 can prevent the pressure in the piston cavity of the anchor pump 1000 from being too large, can protect the anchor pump 1000, and improve safety and stability.

In some embodiments, as shown in FIG. 3 , the automatic bolt construction device further includes a first balance valve 6100 and a second balance valve 7100 . The first balance valve 6100 is connected to the oil circuit between the support cylinder 6000 and the third reversing valve, so as to maintain the extended or retracted state of the third piston rod of the support cylinder 6000 . The second balance valve 7100 is connected to the oil circuit between the drilling cylinder 7000 and the second reversing valve, so as to maintain the extended or retracted state of the second piston rod of the drilling cylinder 7000 .

In some embodiments, as shown in FIG. 3 , the automatic bolt construction device further includes an electro-hydraulic proportional multi-way valve, and the electro-hydraulic proportional multi-way valve includes a first oil inlet link 8200 , a second oil inlet link 8300 , and a third oil inlet link 8300 . Oil 8400, first 8100 and tail 8500.

The first oil inlet 8200 forms the second reversing valve, the second oil inlet 8300 forms the third reversing valve, and the third oil inlet 8400 forms the fourth reversing valve. The first coupling 8100 and the trailing coupling 8500 are used to provide the oil inlet and outlet channels and commutation signals for the first oil inlet coupling 8200, the second oil feeding coupling 8300 and the third oil feeding coupling 8400.

As shown in FIG. 3 , the oil pressure sensor includes a first pressure sensor 6200 , a second pressure sensor 6300 , a third pressure sensor 7200 , a fourth pressure sensor 7300 and a fifth pressure sensor 5400 .

The first pressure sensor 6200 is arranged on one oil circuit between the support cylinder 6000 and the first balance valve 6100, and the second pressure sensor 6300 is arranged on the other oil circuit between the support cylinder 6000 and the first balance valve 6100, so as to provide the first The second proportional valve 9000 provides the oil pressure signal to control the third reversing valve.

The third pressure sensor 7200 is arranged on one oil circuit between the drilling cylinder 7000 and the second balance valve 7100, and the fourth pressure sensor 7300 is arranged on the other oil circuit between the drilling cylinder 7000 and the second balance valve 7100, so as to provide the first The second proportional valve 9000 provides the oil pressure signal to control the second reversing valve.

The fifth pressure sensor 5400 is provided on an oil circuit between the hydraulic motor 5100 and the fourth reversing valve, so as to provide an oil pressure signal to the second proportional valve 9000 to control the fourth reversing valve.

It can be understood that the electro-hydraulic proportional multi-way valve is connected to the oil source and the unloading tank. In addition, the specific structure of the electro-hydraulic proportional multi-way valve is well known to those skilled in the art and will not be described in detail.

In some embodiments, as shown in FIG. 4 , the drill frame includes a base plate and a support plate oppositely disposed in the left-right direction. The support plate is connected to the third piston rod of the support cylinder 6000 to support the roadway wall and guide the bolt. The base plate is used to position the drill stand, and the laser ranging sensor is arranged on the base plate, and the laser ranging sensor is opposite to the drill box in the left and right directions, so as to measure the drilling distance and speed of the drill box.

It can be understood that the laser ranging sensor detects that the drilling distance of the drill box does not change, that is to say, when the speed is zero, it means that the drill box has reached the limit position, and the drill box is controlled to stop drilling or retreat. Or, the laser ranging sensor detects that the speed of the drilling distance change of the drill box is lower than the normal speed, that is to say, the drilling speed of the drill box is lower than the normal speed, indicating that the hydraulic oil circuit is leaking or blocked, and the machine should be stopped immediately for maintenance.

The structure of the drill box 5000 and its working process will be described in detail below with reference to FIGS. 8-16 as an example.

The drill box 5000 includes a base 1 , a driver 2 , a first shaft 10 , a second shaft 20 and an anchor rod 9 .

In the embodiment of the present disclosure, as shown in FIGS. 8-11 , the axial direction of the first shaft 10 is consistent with the left and right directions, and the base 1 includes a base 1001 and a mounting seat 1002. The mounting seat 1002 is connected to the right end of the base 1001, and the mounting The seat 1002 is provided with an installation hole, the first end 11 (right end) of the first shaft 10 is installed in the installation hole through the bearing 1003 , and the second end 12 (left end) of the first shaft 10 is cantilevered. Wherein, the first shaft 10, the bearing 1003 and the mounting hole are all coaxially arranged.

The driver 2 is connected with the first shaft 10 to drive the first shaft 10 to rotate, and the driver 2 is a hydraulic motor.

As shown in FIG. 9 and FIG. 10 , the drill box 5000 further includes a first transmission member 31 and a second transmission member 32 , the first transmission member 31 is connected with the first shaft 10 , the first transmission member 31 is connected with the driver 2 , and the second transmission member 31 is connected with the driver 2 . The transmission member 32 is connected with the second transmission member 32 . Therefore, using the first transmission member 31 and the second transmission member 32 facilitates the connection of the driver 2 with the first rotating shaft.

In the embodiment of the present disclosure, each of the first transmission member 31 and the second transmission member 32 is a gear, and the first transmission member 31 and the second transmission member 32 are engaged with each other.

The second shaft 20 is movably inserted into the first through hole 13 along its axial direction, the second shaft 20 has an initial position adjacent to the first end 11 of the first shaft 10 , and at least a part of the second shaft 20 is connected to the first through hole 13 . The through hole 13 is sealed and matched, the second shaft 20 is provided with a plurality of second through holes 23 penetrating along its axial direction, the plurality of second through holes 23 are spaced apart, and each second through hole 23 is provided with Check valve 5.

In the embodiment of the present disclosure, as shown in FIG. 9 , the second shaft 20 has a first end 21 and a second end 22 opposite in its axial direction, and the first end 21 of the second shaft 20 is opposite in its axial direction The second end 22 of the second shaft 20 is disposed adjacent to the first end 11 of the first shaft 10 .

In the embodiment of the present disclosure, as shown in FIG. 12 , three second through holes 23 of the second shaft 20 are provided in total, one of the second through holes 23 is for the passage of high-pressure water, and the other two second through holes 23 are respectively For anchoring agent and B component access.

As shown in FIG. 10 and FIG. 11 , the drill box 5000 further includes a first sealing member 41 , a first sealing ring groove is provided on the outer peripheral surface of the second shaft 20 , and the first sealing member 41 is installed in the first sealing ring groove, The outer peripheral surface of the first sealing member 41 is in contact with the inner peripheral surface of the first through hole 13 .

In the embodiment of the present disclosure, the first sealing ring groove is disposed near the first end 21 of the second shaft 20 . Thus, the amount of the anchoring agent in the first through hole 13 can be further reduced, thereby further saving the amount of the anchoring agent.

As shown in FIGS. 8-10 , the drill box 5000 further includes a reset elastic member 7 , and the reset elastic member 7 is installed between the base 1 and the second shaft 20 , so that the reset elastic member 7 provides the second shaft 20 with a direction toward the first shaft 20 . The return spring force of the first end 11 of the shaft 10 .

Therefore, after the bolt 9 is pre-tightened, the second shaft 20 can return to the initial position under the action of the reset elastic member 7, so that the multifunctional bolt support construction device 1000 can perform the next operation cycle, which is conducive to further improving the The bolting operation efficiency of the multifunctional bolting construction device 1000.

In the embodiment of the present disclosure, as shown in FIGS. 10 and 11 , the second shaft 20 includes a first part 24 and a second part 25 , the first part 24 is sealed and inserted into the first through hole 13 , and the second part 25 protrudes out One of the first through hole 13 , the outer peripheral surface of the second part 25 and the base 1 is provided with a rotation stop block 26 , and the other one of the outer peripheral surface of the second part 25 and the base 1 is provided with a rotation stop The anti-rotation block 26 is inserted into the anti-rotation groove, and the reset elastic member 7 is arranged on the second part 25 .

For example, the drill box 5000 further includes a rotation stop frame 6, which is connected to the base 1, and a rotation stop block 26 is provided on one of the outer peripheral surface of the second part 25 and the base 1, and the second part 25 has a rotation stop block 26. An anti-rotation groove is provided on the other of the outer peripheral surface and the base 1, and the anti-rotation block 26 is inserted into the anti-rotation groove.

The second shaft 20 can also be entirely located in the first through hole 13, and the base 1 is provided with a rotation stopper 6, the rotation stopper 6 extends into the first through hole 13, and the second end 22 of the second shaft 20 and One of the anti-rotation frames 6 is provided with a anti-rotation block 26, the second end 22 of the second shaft 20 and the other of the anti-rotation frames 6 are provided with a anti-rotation groove, and the anti-rotation block 26 is inserted in the anti-rotation frame 6. inside the trough.

In the embodiment of the present disclosure, as shown in FIG. 10 , the anti-rotation block 26 is a spline, and the anti-rotation groove is a spline groove.

In the embodiment of the present disclosure, the drill box 5000 further includes a blocking ring 8 , which is connected to the base 1 , the blocking ring 8 is spaced apart from the anti-rotation block 26 in the axial direction of the second shaft 20 , and the blocking ring 8 is sleeved On the second part 25 , the reset elastic member 7 is a compression spring, the anti-rotation block 26 is provided on the outer peripheral surface of the second part 25 , and the compression spring is press-fitted between the anti-rotation block 26 and the retaining ring 8 . Thus, the installation of the reset elastic member 7 is facilitated.

In the embodiment of the present disclosure, the position of the retaining ring 8 in the axial direction of the second shaft 20 is adjustable, so as to adjust the preloading force of the compression spring.

In the embodiment of the present disclosure, the drill box 5000 further includes an adjustment cylinder 801, the adjustment cylinder 801 is sleeved on the second part 25, the adjustment cylinder 801 is connected with the base 1, and the outer peripheral surface of the adjustment cylinder 801 is provided with an external thread, which blocks the The ring 8 is an adjusting nut matched with the adjusting cylinder 801 . Thus, the position adjustment of the blocking ring 8 is facilitated.

For example, the drill box 5000 further includes an adjusting frame 802 , the adjusting frame 802 is connected with the base 1 , the adjusting barrel 801 is connected with the adjusting frame 802 , and the retaining ring 8 is matched with the adjusting barrel 801 . By rotating the blocking ring 8, the distance between the blocking ring 8 and the anti-rotation block 26 can be adjusted, so that the preload force of the compression spring can be adjusted.

As shown in FIG. 12 , the anchor rod 9 includes a rod body 95 , a drill bit 96 , a preload nut 92 and a limit block 91 . The rod body 95 is coaxial with the first shaft 10 . The rod body 95 is provided with a third through hole 953 penetrating along its axial direction, and the third through hole 953 can communicate with each of the second through holes 23 . The third through hole 953 being able to communicate with each second through hole 23 through the check valve 5 means that the third through hole 953 communicates with the second through hole 23 when the check valve 5 is opened under fluid pressure, and the check valve 5 is in communication with the second through hole 23 . When closed, the third through hole 953 is not in communication with the second through hole 23.

In the embodiment of the present disclosure, the third through hole 953 includes a truncated cone hole section 9531, and the truncated cone hole section 9531 is provided at one end of the rod body 95 adjacent to the second shaft 20.

The rod body 95 is spaced apart from the second shaft 20 in its axial direction, the rod body 95 is disposed adjacent to the first end 11 of the first shaft 10 relative to the second shaft 20 in its axial direction, and the limit block 91 is located in the axial direction of the rod body 95 . between the preload nut 92 and the second shaft 20 . An outer thread is provided on the outer peripheral surface of the rod body 95 , and the pre-tightening nut 92 is threadedly fitted on the rod body 95 and is connected to the first shaft 10 in a sealing manner.

As shown in FIGS. 10 and 11 , the drill box 5000 further includes a second sealing member 42 , a second sealing ring groove is provided on the inner peripheral surface of the first through hole 13 , and the second sealing member 42 is installed in the second sealing ring groove Inside, the inner peripheral surface of the second seal 42 is in contact with the outer peripheral surface of the preload nut 92 .

The limiting block 91 is movably disposed in the first through hole 13 along the axial direction of the first shaft 10 and is connected with the rod body 95 . Each of the preload nut 92 and the stopper 91 has a first face and a second face opposite in the axial direction of the anchor rod 9 . When the first shaft 10 drives the preload nut 92 to rotate in the first direction, the first surface of the limiting block 91 abuts against the second surface of the preload nut 92 so that the preload nut 92 drives the rod body 95 to rotate in the first direction. When the first shaft 10 drives the preload nut 92 to rotate in the second direction opposite to the first direction, the preload nut 92 exerts a preload force on the rod body 95 away from the first end 11 of the first shaft 10 , and the limit block 91 The second shaft 20 can be pushed to move away from the first end 11 of the first shaft 10 .

The fact that the limit block 91 can push the second shaft 20 so that the second shaft 20 moves away from the first end 11 of the first shaft 10 means: when the first drive shaft drives the preload nut 92 to rotate in the first direction, the limit The block 91 will not move along the axial direction of the first shaft 10. At this time, the limiting block 91 will not push the second shaft 20 to move the second shaft 20 away from the first end 11; When the nut 92 rotates in the second direction, the pre-tightening nut 92 exerts a pre-tightening force on the rod body 95, and the pre-tightening nut 92 moves relative to the rod body 95 and the limit block 91 away from the second end 12 of the first shaft 10, correspondingly, the limit The position block 91 and the rod body 95 move relative to the preload nut 92 away from the first end 11 of the first shaft 10 . During the movement of the limit block 91 away from the first end 11 of the first shaft 10 , the limit block 91 can Pushing the second shaft 20 moves the second shaft 20 away from the first end 11 of the first shaft 10 .

The anchor rod 9 further includes a self-aligning ball pad 93 and a tray 94 , each of which is provided with a through hole for the rod body 95 to pass through, and the tray 94 abuts with the self-aligning ball pad 93 . The tray 94 is used to fit with the surrounding rock, and the self-aligning ball pad 93 is used to adjust the positioning direction of the tray 94 . The pallet 94 is continuously pressed by the preload nut 92 to realize the preload of the anchor rod 9 .

In the embodiment of the present disclosure, the rod body 95 includes a first end 951 and a second end 952 that are opposite to each other in the axial direction thereof, and the second end 952 of the rod body 95 is adjacent to the second end 951 of the rod body 95 relative to the first end 951 of the rod body 95 in its axial direction. The shaft 20 is provided, the drill bit 96 is provided on the first end 951 of the rod body 95 , the tray 94 , the self-aligning ball washer 93 , the preload nut 92 and the limit block 91 are provided near the second end 952 of the rod body 95 .

The limit block 91 can be a limit nut. The limit block 91 is threadedly fitted on the rod body 95. When the preload nut 92 rotates in the first direction, the first surface of the preload nut 92 stops against the second surface of the limit block 91. When reaching, the rotational torque exerted by the preload nut 92 on the limit block 91 is smaller than the rotational torque required for the limit block 91 to rotate relative to the rod body 95 , so that the limit block 91 can be limited to the first position of the preload nut 92 toward the rod body 95 . The two ends 952 move, so that the preload nut 92 drives the rod body 95 to rotate along its axial direction.

As shown in FIGS. 8-10 , the check valve 5 includes a valve body 51 , a valve core 52 and a ring magnet 53 .

The valve body 51 has a valve cavity 50 and an inlet 511 and an outlet 512 communicating with the valve cavity 50. The valve cavity 50 extends along the axial direction of the valve body 51. A valve seat 54 is provided in the cavity 50 .

The valve core 52 is movably installed in the valve cavity 50 along the axial direction of the valve body 51 . The valve core 52 has a first position and a second position. When the valve core 52 is at the first position, the valve core 52 abuts against the valve seat 54 , and when the valve core 52 is at the second position, the valve core 52 leaves the valve seat 54 to communicate the inlet 511 and the outlet 512 .

The ring magnet 53 is installed in the valve cavity 50, the ring magnet 53 is coaxial with the valve body 51, and at least a part of the valve core 52 is made of ferromagnetic material, so that the valve core 52 can be removed from the first valve by the magnetic force between the valve core 52 and the ring magnet 53. The second position is moved to the first position.

Before the fluid is passed into the second through hole 23, the fluid can be high-pressure water or an anchoring agent with a certain pressure. The valve core 52 is held in the first position by the magnetic force between the ring magnet 53 and the valve core 52, so that the valve core 52 is kept in the first position. 52 abuts against the valve seat 54 to form a line seal. During operation, when the fluid enters the valve cavity 50 of the check valve 5 from the inlet 511 in the positive direction, the valve core 52 overcomes the magnetic force between the valve core 52 and the ring magnet 53 by the pressure of the fluid, and moves from the first position to the valve leaving the valve. In the second position of the seat 54, the inlet 511 of the check valve 5 is communicated with the outlet 512, and the check valve 5 is opened to form a fluid passage for the fluid to flow through. When the delivery of fluid to the inlet 511 of the check valve 5 is stopped, the valve core 52 uses the magnetic force between the ring magnet 53 and the valve core 52 to move from the second position to the first position, so that the valve core 52 and the valve seat 54 stop The abutment forms a line seal to prevent fluid backflow.

The valve core 52 of the check valve 5 utilizes the magnetic force between the valve core 52 and the ring magnet 53 to stop the valve core 52 and the valve seat 54 to form a line seal. Therefore, there is no need between the valve core 52 of the valve cavity 50 and the outlet 512 Set up springs, spring seats and other components. Therefore, the radial dimension between the valve core 52 of the check valve 5 and the outlet 512 can be equal everywhere, or the radial dimension of the valve core 52 to the outlet 512 of the check valve 5 is adjacent to the outlet 512 in any section. maximum, so that the solidified fluid can be pushed out of the valve cavity 50 through the outlet 512 by the force towards the outlet 512 . Furthermore, when the multi-functional bolt support construction device 1000 is used to transport fluid next time, when the fluid entering from the inlet 511 pushes the valve core 52 toward the outlet 512, the solidified fluid can be pushed out by the valve core 52 from the outlet 512, and finally makes the valve core 52 push out. The outlet 512 communicates with the inlet 511 to ensure smooth delivery of the fluid.

Therefore, the check valve 5 has advantages such as good versatility.

Of course, the check valve 5 can also be a check valve in the related art that uses the spring force to stop the valve core and the valve seat.

14-16 as an example, the above-mentioned check valve 5 will be described in detail below. The check valve 5 includes a valve body 51 , a valve core 52 and a ring magnet 53 .

The valve body 51 has a valve cavity 50 and an inlet 511 and an outlet 512 communicating with the valve cavity 50 .

In the embodiment of the present disclosure, as shown in FIG. 14 , the valve body 51 has a first end 55 and a second end 56 opposite in the axial direction thereof, and the valve body 51 defines a valve cavity 50 . The first end 55 of the valve body 51 is disposed adjacent to the anchor rod 9 relative to the second end 56 .

As shown in FIG. 15 , the first end 55 is provided with an inversion edge, and the inversion edge encloses an inlet 511, and the diameter of the inlet 511 is smaller than the radial dimension of the valve cavity 50 adjacent to the inlet 511. An outlet 512 is provided at the second end 56 , and the diameter of the outlet 512 is equal to the radial dimension of the valve chamber 50 adjacent to the outlet 512 .

In the embodiment of the present disclosure, as shown in FIG. 15 , a sealing groove for installing a sealing ring is provided on the end face of the inversion edge away from the first end 55 , and the sealing groove is an annular groove. When the check valve 5 is connected to a pipeline or other components for use, a sealing ring can be installed in the sealing groove to ensure the tightness between the valve body 51 and the pipeline or other components.

Of course, the diameter of the outlet 512 may also be larger than the radial dimension of the valve cavity 50 adjacent to the outlet 512 . For example, the radial dimension of the valve cavity 50 adjacent to the outlet 512 gradually increases in the direction from the inlet 511 to the outlet 512 .

The valve core 52 is movably installed in the valve cavity 50 along the axial direction of the valve body 51 . The valve core 52 has a first position and a second position. The first position is positioned adjacent to the inlet 511 and the second position is positioned adjacent to the outlet 512 . The valve cavity 50 is provided with a valve seat 54, wherein when the valve core 52 is in the first position, the valve core 52 stops against the valve seat 54, and when the valve core 52 is in the second position, the valve core 52 leaves the valve seat 54 so that the inlet 511 It communicates with outlet 512 .

It can be understood that the second position refers to the position of the valve core 52 in the valve cavity 50 when the valve core 52 leaves the valve seat 54 , and therefore, there are multiple second positions.

The valve core 52 includes a valve core main body 521, the valve core body 521 is a spherical truncated body, and the valve core main body 521 includes an arc surface and a flat surface. In the first position, the arc-shaped surface abuts against the valve seat 54 .

In the embodiment of the present disclosure, the valve core body 521 is a hemisphere. Of course, the valve core body 521 can also be in other shapes such as a quarter sphere, a three-quarter sphere, and the like.

The ring magnet 53 is installed in the valve cavity 50, the ring magnet 53 is coaxially arranged with the valve body 51, and at least a part of the valve core 52 is made of ferromagnetic material, so that the valve core 52 can be removed from the valve body through the magnetic force between the valve core 52 and the ring magnet 53. The second position is moved to the first position.

As shown in FIG. 15 , the check valve 5 further includes a magnet mounting plate 59 on which the ring magnet 53 is mounted. Therefore, the ring magnet 53 can be easily installed in the valve chamber 50 by using the magnet installation plate 59 .

As shown in FIG. 14 , the magnet mounting plate 59 is made of a ferromagnetic material so that the ring magnet 53 is mounted on the magnet mounting plate 59 by the magnetic force between it and the magnet mounting plate 59 . Therefore, compared with fixing the ring magnet 53 on the magnet mounting plate 59 by means of fasteners or welding, the structure of the check valve 5 is simple, which is beneficial to the processing and manufacture of the check valve 5 .

In the embodiment of the present disclosure, the valve body 51 is made of non-ferromagnetic material.

As shown in FIG. 14 , the ring magnet 53 forms the valve seat 54 . At this time, when the valve body 52 is in the first position, the valve body 52 abuts against the ring magnet 53 .

It can be understood that the magnet mounting plate 59 can also be an annular plate, the magnet mounting plate 59 is coaxial with the valve body 51 , and the magnet mounting plate 59 forms the valve seat 54 . At this time, when the valve body 52 is in the first position, the valve body 52 abuts against the magnet mounting plate 59 .

Therefore, the annular magnet 53 or the magnet mounting plate 59 forms the valve seat 54 , which is beneficial to simplify the structure of the check valve 5 and facilitate the processing and manufacture of the check valve 5 .

Of course, the valve seat 54 can also be provided separately. In this case, the valve seat 54 can be fixed on the valve body 51 , the magnet mounting plate 59 or the ring magnet 53 . At this time, each of the ring magnet 53 and the magnet mounting plate 59 may be composed of several parts, and a fluid passage for fluid to pass through is enclosed between the parts, and the fluid passage communicates with the valve cavity 50 .

As shown in FIG. 15 , one of the magnet mounting plate 59 and the valve body 51 is provided with a positioning boss, and the other of the magnet mounting plate 59 and the valve body 51 is provided with a positioning groove. Groove insert fit.

For example, as shown in FIG. 15 , the valve body 51 is provided with an inner flange, the inner flange is provided with a positioning groove, the magnet mounting plate 59 is provided with a positioning boss, and the positioning boss is inserted into the positioning groove. The positioning of the magnet mounting plate 59 on the valve body 51 is achieved. Thereby, it is convenient to install the magnet mounting plate 59 in the valve body 51 at the set position.

In the embodiment of the present disclosure, the positioning boss and the positioning groove are in interference fit, and the magnet mounting plate 59 is mounted on the valve body 51 . Therefore, compared with the connection between the magnet mounting plate 59 and the valve body 51 by welding or fasteners, the check valve 5 has a simple structure and is convenient to manufacture.

As shown in FIG. 15 , the check valve 5 further includes a limit block, the limit block is connected with the valve core 52 , the limit block is provided with a first limit portion 57 , and the valve cavity 50 is provided with a second limit portion 58 , when the valve core 52 is located at the second position, the first limiting portion 57 can abut against the second limiting portion 58 . The first limiting portion 57 is located between the valve core 52 and the inlet 511 in the axial direction of the valve body 51 , and the second limiting portion 58 is located between the valve core 52 and the first limiting portion 57 in the axial direction of the valve body 51 . between.

When the valve core 52 is located at the second position, the first limiting portion 57 can abut against the second limiting portion 58 , which means that when the valve core 52 is separated from the valve seat 54 and is at the second position, the first limiting portion 57 can contact with the second limiting portion 58 . The second limiting portion 58 is in contact, and the first limiting portion 57 may not be in contact with the second limiting portion 58 . In the embodiment of the present disclosure, when the valve core 52 just leaves the valve seat 54 and the gap between the valve core 52 and the valve seat 54 is small, the valve core 52 is located at the second position, but at this time the first limiting portion 57 is in contact with the valve seat 54 . The second limiting portion 58 is not in contact. When the valve core 52 is separated from the valve seat 54 and the gap between the valve core 52 and the valve seat 54 is large, the valve core 52 is located at the second position, and at this time the first limiting portion 57 is in contact with the second limiting portion 58 (stop), preventing the valve core 52 from continuing to move away from the valve seat 54 .

Therefore, when the valve core 52 is in the second position, the stop of the first limiting portion 57 and the second limiting portion 58 can be used to limit the limit position of the valve core 52, so that when the fluid delivery ends, the valve The core 52 is moved from the second position to the first position.

In the embodiment of the present disclosure, the first limiting portion 57 is a stopper, and a plurality of stoppers are provided, and each stopper is evenly spaced around the axis of the valve body 51 . Therefore, the overall structure composed of the valve core 52 and the first limiting block is symmetrical, so that when the valve core 52 moves in the axial direction of the valve body 51, the valve core 52 is prevented from being deflected in the radial direction of the valve body 51, which may affect the Stable flow of fluid within the valve body 51 .

In the embodiment of the present disclosure, the valve core 52 further includes a cylindrical connecting section 522 . The limit block includes a first part and a second part, the first part is block-shaped, the above-mentioned stopper is the second part, one end of the column-shaped connecting section 522 is connected with the valve core body 521, and the other end is connected with the first part, and the stopper is arranged on the first part. part of the edge.

In the embodiment of the present disclosure, the second limiting portion 58 is a limiting ring. Therefore, it is convenient to realize the abutment between the second limiting portion 58 and the first limiting portion 57 .

In the embodiment of the present disclosure, the cylindrical connecting section 522 and the limiting block are provided with blind holes, the orifice of the blind hole faces the inlet 511 , the bottom of the blind hole is tapered, and the top of the tapered hole faces the outlet 512 .

14-16 as an example, the working process of the above-mentioned check valve 5 is introduced:

Before the check valve 5 operates, the valve core 52 is held in the first position by the magnetic force between the ring magnet 53 and the valve core 52 . When a fluid enters the valve cavity 50 from the inlet 511 in the positive direction, a part of the fluid exerts the fluid pressure toward the first end 55 on the limit block, and another part of the fluid enters the valve cavity 50 and exerts the fluid pressure toward the first end 55 on the valve core body 521 The direction of the fluid pressure on the valve core 52 is opposite to the direction of the magnetic force, and the fluid pressure is greater than the magnetic force, the valve core 52 moves to the first end 55, the valve core 52 leaves the valve seat 54, and the valve core 52 is in the second position , the valve chamber 50 communicates with the inlet 511 and the outlet 512 to form a fluid passage. When the fluid flows into the valve cavity 50 from the outlet 512 in a reverse direction, the fluid exerts a fluid pressure on the valve core 52 toward the second end 56. At this time, the direction of the fluid pressure on the valve core 52 is the same as the direction of the magnetic force. The valve core 52 moves toward the second end 56 under the combined action of fluid pressure and magnetic force, and finally the valve core 52 and the valve seat 54 abut to form a line seal to prevent fluid backflow, and the valve is in the first position. The fluid pressure here refers to the pressure applied by the fluid to the valve core 52 .

The detailed process of the bolt support operation performed by the drill box 5000 will be described in detail below with reference to FIGS. 8 to 16 :

1) Drilling: The bolt support operation cycle starts, the driver 2 rotates forward, and drives the first transmission member 31 to rotate forward, because the first transmission member 31 and the second transmission member 32 are connected, and driven by the first transmission member 31 , the second transmission member 32 is reversed. Since the second transmission member 32 is connected with the rotating shaft, the rotating shaft is reversed (rotated in the first direction). Because the pre-tightening nut 92 is connected with the rotating shaft, under the joint action of the rotating shaft and the limit block 91, the rod body 95 and the rotating shaft rotate together, and the drill bit 96 of the anchor rod 9 is used for drilling. During this process, the second shaft 20 does not rotate together with the first shaft 10. Since the inner and outer sides of the second seal 42 contact the first shaft 10 and the second shaft 20 respectively, the second shaft 20 is subjected to the torque generated by the frictional force, Under the action of the anti-rotation frame 6, the second shaft 20 does not rotate. During the drilling process, only one second through hole 23 of the second shaft 20 transmits water to the third through hole 953 of the rod body 95 for removing cinders. Due to the functions of the first sealing member 41 and the second sealing member 42, it can be ensured that the high-pressure water flows into the third through hole 953 of the rod body 95 and does not flow out. When the limit block 91 is in close contact with the pre-tightening nut 92, the pre-tightening nut 92 is in close contact with the self-aligning ball washer 93, the self-aligning ball washer 93 is in close contact with the tray 94, and the tray 94 is in close contact with the surrounding rock, the drilling is completed.

2) Anchor note: After the drilling is completed, the driver 2 stops rotating, and the second through hole 23 in the second shaft 20 stops pumping water to the inside of the rod body 95; the other two second through holes 23 of the second shaft 20 are respectively The A component and the B component of the pumping anchoring agent are simultaneously pumped into the third through hole 953 of the rod body 95 and the gap between the rod body 95 and the surrounding rock, due to the first seal 41 and the second sealing member 42 can ensure that the A component and the B component of the anchoring agent enter the third through hole 953 of the rod body 95 without flowing out. After pumping the anchoring agent to a preset amount, stop pumping, After the various components of the anchoring agent are mixed and reacted, the anchoring function is realized.

3) Pre-tightening: After the anchoring is completed, the driver 2 is reversed, and the pre-tightening nut 92 is driven to rotate through the first transmission member 31 and the second transmission member 32. At this time, the rotation direction of the pre-tightening nut 92 is the second direction, and the pre-tightening The rotation direction of the nut 92 is opposite to the rotation direction of the drilling process, and the pre-tightening nut 92 continuously squeezes the tray 94 which is closely attached to the surrounding rock to realize the pre-tightening of the bolt 9 . During the preloading process, the bolt 9 moves relative to the first axis 10 in a direction away from the surrounding rock, and the stop block 91 at the end of the bolt 9 contacts the second axis 20 and pushes the second axis 20 to move away from the surrounding rock, and reset The elastic element 7 is compressed until the preloading process is completed. When the preload is finished, the anchor rod 9 is separated from the first shaft 10. Under the action of the reset elastic member 7, the second shaft 20 translates relative to the first shaft 10 and gradually returns to the initial position, and the reset elastic member 7 also returns to its original position. The installation length, the preload force and installation length of the reset elastic member 7 can be adjusted by the retaining ring 8.

After the above process steps are completed, the next operation cycle is carried out according to the construction requirements. In each operation cycle, the working principle of the drill box 5000 is the same, and will not be repeated.

Drill box 5000 can complete multiple steps of drilling, anchoring and preloading, reducing labor intensity of workers, improving roadway support efficiency, low cost, simple structure, easy installation and maintenance, and suitable for coal roadway bolt support operations.

In the description of the present disclosure, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", " Rear, Left, Right, Vertical, Horizontal, Top, Bottom, Inner, Outer, Clockwise, Counterclockwise, Axial, The orientations or positional relationships indicated by "radial direction", "circumferential direction", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present disclosure and simplifying the description, rather than indicating or implying the indicated devices or elements It must have, be constructed, and operate in a particular orientation, and therefore should not be construed as a limitation of the present disclosure.

In addition, the terms "first" and "second" are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature. In the description of the present disclosure, "plurality" means at least two, such as two, three, etc., unless expressly and specifically defined otherwise.

In the present disclosure, unless otherwise expressly specified and limited, the terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two components or the interaction relationship between the two components, unless otherwise expressly qualified. For those of ordinary skill in the art, the specific meanings of the above terms in the present disclosure can be understood according to specific situations.

In the present disclosure, unless expressly stated and defined otherwise, a first feature "on" or "under" a second feature may be in direct contact with the first and second features, or indirectly through an intermediary between the first and second features touch. Also, the first feature being "above", "over" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature has a lower level than the second feature.

In this disclosure, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., mean a specific feature, structure, material, or Features are included in at least one embodiment or example of the present disclosure. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, those skilled in the art may combine and combine the different embodiments or examples described in this specification, as well as the features of the different embodiments or examples, without conflicting each other.

Although the embodiments of the present disclosure have been shown and described above, it should be understood that the above-described embodiments are exemplary and should not be construed as limitations of the present disclosure, and those of ordinary skill in the art may interpret the above-described embodiments within the scope of the present disclosure. Embodiments are subject to variations, modifications, substitutions and variations.

Claims

An automatic bolt construction method, characterized in that it comprises the following steps:

The oil pressure signal is collected by the oil pressure sensor, and the forward signal of the drilling box is collected by the laser ranging sensor;

According to the oil pressure signal, control the support oil cylinder to drive the support plate to move forward and stop, so as to support the roadway wall and guide the anchor rod;

After the support plate stops moving, use a water injection device to inject water into the anchor rod;

Control the reverse rotation of the hydraulic motor on the drill box, so as to drive the rock bolt to rotate forward;

According to at least one of the oil pressure signal and the advance signal, controlling the drilling oil cylinder to drive the drill box to advance and stop moving, so that the forward-rotating anchor rod advances the drilling;

Control the anchor pump to suck the slurry while the anchor rod advances the drilling;

controlling the hydraulic motor to stop reversing;

Controlling the water injection device to stop water supply, and controlling the anchor injection pump to stop absorbing slurry;

controlling the grouting of the anchor injection pump so as to anchor the anchor rod;

After the bolt is anchored, the hydraulic motor is controlled to rotate forward, so as to drive the preload nut to reverse, so as to realize the preload of the bolt;

Control the hydraulic motor to stop forward rotation according to the oil pressure signal;

After the hydraulic motor stops rotating forward, according to the oil pressure signal, the drilling oil cylinder is controlled to drive the drilling box to retreat and stop moving, so that the anchor rod is retreated; and

According to the oil pressure signal, the support oil cylinder is controlled to drive the support plate to retreat and stop moving, so that the support plate retreats.
The bolt automatic construction method according to claim 1, characterized in that, after the drilling box stops moving and before the water injection device is controlled to stop water supply, the hydraulic motor is controlled to stop according to an oil pressure signal Invert.
The automatic bolt construction method according to claim 1 or 2, wherein the oil pressure sensor comprises:

A first pressure sensor and a second pressure sensor, the first pressure sensor is provided on one oil circuit of the support cylinder, and the second pressure sensor is provided on the other oil circuit of the support cylinder to monitor the support The feed pressure signal and retraction pressure signal of the oil cylinder;

A third pressure sensor and a fourth pressure sensor, the third pressure sensor is provided on one oil circuit of the drilling cylinder, and the fourth pressure sensor is provided on the other oil circuit of the drilling cylinder, so as to monitor all the the feed pressure signal and retraction pressure signal of the drilling cylinder; and

The fifth pressure sensor is arranged on an oil circuit of the hydraulic motor to monitor the rotational pressure signal of the hydraulic motor.
The automatic bolt construction method according to any one of claims 1 to 3, wherein the oil pressure signal includes a feed pressure signal and a retraction pressure signal of the support oil cylinder, and a feed pressure signal of the drilling oil cylinder. Given the pressure signal, the retraction pressure signal and the rotational pressure signal of the hydraulic motor, the forward signal of the drill box is the forward speed of the drill box.
The automatic bolt construction method according to any one of claims 1-4, wherein, according to the oil pressure signal, controlling the supporting oil cylinder to drive the supporting plate to move forward and stop the movement comprises:

monitoring and determining that the feed pressure of the support cylinder is less than a first threshold, and controlling the support cylinder to drive the support plate forward; and

Monitoring and determining that the feeding pressure of the support cylinder is greater than or equal to the first threshold value, and controlling the support cylinder to drive the support plate to stop moving.
The automatic bolt construction method according to any one of claims 1-5, characterized in that, according to at least one of the oil pressure signal and the advance signal, the drilling oil cylinder is controlled to drive the drill box to advance and stop moving includes:

monitoring and determining that the feed pressure of the drilling cylinder is less than a second threshold value and/or monitoring and determining that the advancing speed of the drilling tank is greater than or equal to a third threshold value, and controlling the drilling cylinder to drive the drilling tank forward; and

Monitor and determine that the feeding pressure of the drilling cylinder is greater than or equal to a second threshold and/or monitor and determine that the forward speed of the drill box is less than a third threshold, and control the drilling cylinder to drive the drill box to stop moving.
The automatic bolt construction method according to any one of claims 1-6, characterized in that, according to the oil pressure signal, controlling the hydraulic motor to stop reverse rotation comprises:

After monitoring and determining that the rotational pressure of the hydraulic motor is less than or equal to the fourth threshold value and is stable for a preset time, the hydraulic motor is controlled to stop reverse rotation.
The automatic bolt construction method according to any one of claims 1-7, wherein the controlling the hydraulic motor to stop forward rotation according to the oil pressure signal comprises:

Monitoring and determining that the rotational pressure of the hydraulic motor is greater than or equal to a fifth threshold value, and controlling the hydraulic motor to stop forward rotation.
The automatic bolt construction method according to any one of claims 1-8, characterized in that, according to the oil pressure signal, controlling the drilling oil cylinder to drive the drill box to retreat and stop moving comprises:

monitoring and determining that the retraction pressure of the drilling cylinder is less than a sixth threshold, and controlling the drilling cylinder to drive the drilling box to retreat; and

Monitoring and determining that the retraction pressure of the drilling cylinder is greater than or equal to a sixth threshold value, and controlling the drilling cylinder to drive the drilling box to stop moving.
The automatic bolt construction method according to any one of claims 1-9, wherein, according to the oil pressure signal, controlling the support oil cylinder to drive the support plate to retreat and stop moving comprises:

monitoring and determining that the retraction pressure of the support cylinder is less than a seventh threshold, and controlling the support cylinder to drive the support plate to retreat; and

Monitoring and determining that the retracting pressure of the support cylinder is greater than or equal to a seventh threshold value, and controlling the support cylinder to drive the support plate to stop moving.