Mortar injection device, rock bolt driving vehicle equipped with mortar injection device, and mortar injection method

Abstract

To provide a mortar injection device, a rock bolt driving vehicle equipped with the mortar injection device, and a mortar injection method, which are capable of stopping the discharge of mortar from a filler injection pipe at an appropriate timing.SOLUTION: A mortar injection device 31 includes an injection pipe moving unit 60 that moves a filler injection pipe, an insertion length detection unit 34 that detects the insertion length, which is the length of the filler injection pipe inserted into a rock bolt insertion hole, and a pump control unit 38 that controls an operation of a mortar pump MP. The injection pipe moving unit 60 starts to remove the filler injection pipe inserted into the rock bolt insertion hole while discharging mortar, and the pump control unit 38 stops discharging mortar when the insertion length detected by the insertion length detection unit 34 during the removal of the filler injection pipe is the length of the filler injection pipe present inside the rock bolt insertion hole and reaches a preset stop reference insertion length.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a technique for discharging mortar into a rock bolt insertion hole into which a rock bolt is driven. [Background technology]

[0002] For example, in construction work to build tunnels in mountains, rock bolts are often installed. Holes are drilled radially into the tunnel wall to form holes for inserting the rock bolts, mortar is then injected into the holes, and rock bolts are then inserted to reinforce the ground. Conventionally, the work of injecting mortar and the work of inserting rock bolts have been done manually, but these tasks are dangerous. For this reason, in recent years, as disclosed in Patent Document 1, for example, a rock bolt installation device (rock bolter) that can perform the work of injecting mortar and the work of inserting rock bolts by machine has been put to practical use. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2010-144349 A Summary of the Invention [Problem to be solved by the invention]

[0004] In conventional configurations, including the configuration disclosed in Patent Document 1, the device that moves the filler injection pipe that injects mortar into the rock bolt insertion hole does not have a configuration for detecting the length of the filler injection pipe inserted into the rock bolt insertion hole. Therefore, when an operator confirms that the tip of the filler injection pipe has moved outside the rock bolt insertion hole, he or she manually stops the mortar pump that discharges mortar. Considering the working environment in the narrow space of a tunnel, the mortar pump is placed behind the rock bolter, and the mortar moves inside a long injection hose and is transported to the filler injection pipe. Since the mortar is transported a long distance, the mortar pump discharges the mortar at a high pressure required for long distance transportation. Therefore, when discharging the mortar, the injection hose is expanded with high pressure, and there is a problem that even if the mortar pump is stopped, the discharge of mortar from the filler injection pipe does not stop immediately. As a result, the continuously discharged mortar is not only wasted, but also adheres to the body of the rock bolter and hardens, which may cause a breakdown.

[0005] In consideration of the above-mentioned problems, the present invention aims to provide a mortar injection device, a rock bolt driving vehicle equipped with a mortar injection device, and a mortar injection method that are capable of stopping the discharge of mortar from a filler injection pipe at an appropriate time. [Means for solving the problem]

[0006] A mortar injection device according to one aspect of the present invention is a mortar injection device capable of inserting and removing a filler injection tube into a rock bolt insertion hole and discharging mortar from the filler injection tube. The mortar injection device also includes an injection tube moving unit, an insertion length detection unit, and a pump control unit. The injection tube moving unit moves the filler injection tube. The injection tube moving unit inserts the filler injection tube into the rock bolt insertion hole before the mortar pump starts discharging mortar, and starts removing the filler injection tube inserted into the rock bolt insertion hole while the mortar pump is discharging mortar. The insertion length detection unit detects an insertion length, which is a length of the filler injection tube inserted into the rock bolt insertion hole. The pump control unit controls the operation of the mortar pump that discharges mortar. The pump control unit stops discharging mortar when the insertion length detected by the insertion length detection unit during the removal of the filler injection tube inserted into the rock bolt insertion hole is a length of the filler injection tube present inside the rock bolt insertion hole and is a preset stop reference insertion length.

[0007] In addition, a rock bolt driving vehicle according to one embodiment of the present invention includes a mortar injection device and a bogie on which the mortar injection device is mounted.

[0008] Moreover, a mortar injection method according to one aspect of the present invention is a method for injecting mortar into a rock bolt insertion hole, in which mortar is injected into the rock bolt insertion hole using a mortar injection device.

[0009] Furthermore, a mortar injection method according to one aspect of the present invention is a method for injecting mortar into a rock bolt insertion hole, in which mortar is injected into the rock bolt insertion hole using a rock bolt driving vehicle. Effect of the Invention

[0010] According to the present invention, it is possible to provide a mortar injection device, a rock bolt driving vehicle equipped with a mortar injection device, and a mortar injection method, which are capable of stopping the discharge of mortar from a filler injection pipe at an appropriate time. [Brief description of the drawings]

[0011] [Figure 1] This is a diagram showing the configuration of a rock bolt driving vehicle, where Fig. (a) is a plan view of the rock bolt driving vehicle, Fig. (b) is a view taken along line B in Fig. (a), and Fig. (c) is a view taken along line C in Fig. (b). [Diagram 2] FIG. 2 is a diagram showing the configuration of a rock bolt driving device. [Diagram 3] FIG. 3 is a view taken along line III in FIG. 2. [Figure 4] FIG. 2 is a block diagram showing the configuration of a mortar injection device. [Diagram 5] FIG. 2 is a diagram showing the configuration of an injection tube moving section. [Figure 6] 6 is a view taken along line VI in FIG. 5. [Figure 7] FIG. 6 is a perspective view of FIG. [Figure 8] FIG. 8 is a cross-sectional view taken along line VIII-VIII in FIG. 5. [Figure 9]FIG. 4 is a side view illustrating a mortar injection method. [Figure 10] FIG. [Figure 11] FIG. [Figure 12] FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] The present invention will be described below with reference to the drawings as appropriate. Note that the drawings are schematic. Therefore, it should be noted that the relationship, ratio, etc. between thickness and planar dimensions may differ from the actual ones, and the drawings may include parts with different dimensional relationships and ratios. In addition, the embodiments shown below are examples of devices and methods for embodying the technical idea of ​​the present invention, and the technical idea of ​​the present invention does not specify the materials, shapes, structures, arrangements, etc. of the components to the embodiments described below.

[0013] (Embodiment) (composition) 1, the rock bolt driving vehicle 100 includes a carriage 1, a drive unit 2, an operator cabin 6, front wheels 7, rear wheels 8, outriggers 9, a first rock bolt driving boom device 10L, and a second rock bolt driving boom device 10R. In addition, the rock bolt driving vehicle 100 includes a first cage boom 12L and a second cage boom 12R. The rock bolt driving vehicle 100 is a work vehicle used for driving work to drive rock bolts into rock bolt insertion holes, for example, in tunnel construction etc. Note that in Fig. 1, some parts of the configuration of the rock bolt driving vehicle 100 are shown in a simplified form. In the following explanations and drawings, the direction in which the rock bolt driving vehicle 100 travels forward may be referred to as "forward." Similarly, in the following explanations and drawings, the direction in which the rock bolt driving vehicle 100 travels backward may be referred to as "rearward." Furthermore, in the following explanations and drawings, the left hand side when the rock bolt driving vehicle 100 moves forward will be referred to as the "left side", and the right hand side when the rock bolt driving vehicle 100 moves forward will be referred to as the "right side". Therefore, in the following explanations and drawings, the viewpoint when the rock bolt driving vehicle 100 is viewed from the left side will be referred to as the "left side view", and the viewpoint when the rock bolt driving vehicle 100 is viewed from the right side will be referred to as the "right side view". Furthermore, in the following explanations, the "left side view" and the "right side view" may be collectively referred to as the "side view".

[0014] In the embodiment, the concrete pouring work will be described as including a drilling work to form a rock bolt insertion hole, an injection work to inject mortar into the rock bolt insertion hole, and an insertion work to insert a rock bolt into the rock bolt insertion hole. A rock bolt insertion hole (drilling hole) is a hole that is drilled (formed) in the wall surface of an excavated tunnel or inside the tunnel by drilling work during tunnel construction. Rock bolts are components that support and hold tunnels.

[0015] The bogie 1 is a vehicle that can run. The drive unit 2 is formed, for example, using an engine, and is disposed at the upper part behind the bogie 1. The drive unit 2 generates a driving force when the bogie 1 travels or the like. The operator cabin 6 is disposed at the top at the front of the carriage 1. The operator cabin 6 also includes an operation unit (not shown) for performing drilling work, injection work, and concrete pouring work.

[0016] The front wheels 7 and the rear wheels 8 are wheels for traveling. The outriggers 9 are disposed forward of the front wheels 7 and rearward of the rear wheels 8, and ensure the stability of the carriage 1 by extending out and touching the ground during concrete pouring work, etc.

[0017] The first rock bolt driving boom device 10L is disposed in a position extending forward from the left side of the cart 1, and is configured to be capable of rotating, raising and lowering, and extending and contracting. In addition, the first rock bolt driving boom device 10L is equipped with a first boom device 3L. The first boom device 3L is configured to be capable of rotating, raising and lowering, and extending / contracting with respect to the first rock bolt driving boom device 10L. In addition, the first boom device 3L is equipped with a first rock bolt driving device 30L. The first rock bolt driving device 30L is disposed at the tip of the first boom device 3L. The first rock bolt driving device 30L will be described in detail later.

[0018] The second rock bolt driving boom device 10R is positioned in a position extending forward from the right side of the cart 1, and is configured to be capable of rotating, raising and lowering, and extending. In addition, the second rock bolt driving boom device 10R is equipped with a second boom device 3R. The second boom device 3R is configured to be capable of rotating, raising and lowering, and extending relative to the second rock bolt driving boom device 10R. In addition, the second boom device 3R is equipped with a second rock bolt driving device 30R. The second rock bolt driving device 30R is disposed at the tip of the second boom device 3R. The configuration of the second rock bolt driving device 30R is the same as that of the first rock bolt driving device 30L, except that the second rock bolt driving device 30R has a symmetrical structure to the first rock bolt driving device 30L.

[0019] The first cage boom 12L is disposed on the left side at the top of the dolly 1, and is configured to be capable of rotating, raising and lowering, and extending and contracting. The first cage boom 12L includes a first cage 13L. The first cage 13L is configured so that an operator or the like can ride in it as necessary, and can be moved by driving the first cage boom 12L.

[0020] The second cage boom 12R is disposed on the right side at the top of the dolly 1, and is configured to be capable of rotating, raising and lowering, and extending and contracting. The second cage boom 12R is provided with a second cage 13R. The second cage 13R is configured so that workers or the like can ride in it as needed, and can be moved by driving the second cage boom 12R.

[0021] (Configuration of the first rock bolt installation device) The configuration of the first rock bolt driving device 30L will be described below.

[0022] The first rock bolt driving device 30L is mounted on a mount device 43 arranged at the tip of the first boom device 3L. The mount device 43 is disposed on the first boom device 3L via the guide rotary 42. In other words, the mount device 43 is a member that constitutes the first boom device 3L.

[0023] The guide rotary 42 forms a rotation actuator for rotating the mounting device 43. This allows the first rock bolt driving device 30L to move to any position inside the tunnel. 2 and 3, the first rock bolt driving device 30L includes a hole drilling device 20, a mortar injection device 31, and a rock bolt insertion device 40. As shown in Fig. 1(b) and Fig. 1(b), the first rock bolt driving device 30L is equipped with a mount frame 43a. The mount frame 43a is disposed on the upper portion of the mount device 43 and is attached to the mount device 43 using bolts. In addition, the drilling device 20, the grout injection device 31, and the rock bolt insertion device 40 are attached to the mount frame 43a.

[0024] Furthermore, the first rock bolt driving device 30L is equipped with a position switching mechanism (not shown). The position switching mechanism is a mechanism that can move the reference axis of the hole drilling device 20, the reference axis of the mortar injection device 31, and the reference axis of the rock bolt insertion device 40 to positions that are coaxial with the central axis of the rock bolt insertion hole. The position switching mechanism moves the set of the hole drilling device 20, the grout injection device 31, and the rock bolt insertion device 40 by rotating them together around the central axis of the anchor 23. The anchor 23 is attached to the mounting frame 43a, and the anchor 23 forms the center of rotation (movement) when moving the set of the drilling device 20, the grout injection device 31 and the rock bolt insertion device 40 in the first rock bolt driving device 30L. In FIG. 1, the reference axis of the hole drilling device 20, the reference axis of the mortar injection device 31, and the reference axis of the rock bolt insertion device 40 are all indicated with the symbol "BLL."

[0025] <Drilling equipment> The hole-drilling device 20 is a device for drilling rock bolt insertion holes, and includes a hole-drilling drifter 4D, a hole-drilling guide shell 5D, a bit 21, a hole-drilling rod 22, a hole-drilling centralizer 24, and a hole-drilling side feed mechanism 25.

[0026] The hole-drilling drifter 4D (rock drill) is formed, for example, by using a hydraulic drifter, and is attached to the hole-drilling guide shell 5D. Furthermore, the hole-drilling drifter 4D can move along the hole-drilling guide shell 5D during drilling work or the like. Furthermore, the hole-drilling drill 4D is capable of generating impact force and rotational force.

[0027] The drilling guide shell 5D is attached to the mount frame 43a in a state in which it can tilt and rotate relative to the first boom device 3L, and is supported by the first boom device 3L.

[0028] The bit 21 is disposed at the tip of the drilling rod 22 . The drilling rod 22 is formed in a rod shape and transmits the impact force and rotational force generated by the drilling drifter 4D to the bit 21.

[0029] The drilling centralizer 24 is attached to the tip side of the drilling guide shell 5D and supports the tip of the drilling rod 22. The drilling side feed mechanism 25 is, for example, a movable pulley type mechanism using a hydraulic cylinder, and is a mechanism capable of moving the drilling driller 4D along the drilling guide shell 5D. The drilling side feed mechanism 25 is also capable of moving the drilling driller 4D along the reference axis line BLL.

[0030] <Mortar injection device> The mortar injection device 31 is attached to the drilling guide shell 5D, and includes a filler injection pipe 32, an injection hose MH, and an injection pipe movement unit 60. In addition, as shown in Fig. 4, the mortar injection device 31 includes a mortar pump MP, a relative distance measurement unit 33, an insertion length detection unit 34, a retreat speed calculation unit 35, a depth acquisition unit 36, a motor control unit 37, and a pump control unit 38.

[0031] The filler injection pipe 32 is made of, for example, polyvinyl chloride and is formed into a cylindrical shape, and is disposed inside the pipe guard PG. The pipe guard PG is formed in a cylindrical shape. Further, a portion of the filler injection pipe 32 is disposed inside the injection pipe movement section 60 .

[0032] The injection hose MH is formed using an elastic material such as rubber. One end of the injection hose MH is connected to one end of the filler injection pipe 32 . The other end of the injection hose MH is connected to the mortar pump MP.

[0033] As shown in Figures 5 to 8, the injection pipe movement section 60 is formed in a box shape. Note that, for the sake of explanation, the filler injection pipe 32 is omitted from Figures 5, 6, and 8. Also, for the sake of explanation, Figures 6 to 8 are shown as see-through views of the inside (see-through views of a part of the injection pipe movement section 60). Furthermore, filling tube movement unit 60 includes a case unit 61, a roller drive motor 62, a drive roller 63, a first driven roller 64, a second driven roller 65, a third driven roller 66, a roller chain 67, a tension sprocket 68, and an adjuster mechanism 69. In addition, filling tube movement unit 60 includes a rotation sensor CS.

[0034] The case portion 61 is a hollow box formed in a substantially hexahedral shape, and is attached to the first boom device 3L. The roller drive motor 62 is formed, for example, by using a hydraulic motor, and has a roller rotation shaft 62a formed in a cylindrical shape. Note that, for the sake of explanation, the roller drive motor 62 is not shown in FIG.

[0035] The drive roller 63 is formed in a cylindrical shape and is disposed outside the case portion 61 .

[0036] The inner peripheral surface of the drive roller 63 is attached to the outer peripheral surface of the roller rotation shaft 62a, and rotates together with the roller rotation shaft 62a.

[0037] The driving roller 63 has an outer circumferential surface formed with a driving roller contact portion 63 a which is pressed against the outer circumferential surface of the filler injection pipe 32 . Further, a drive sprocket 63b that rotates integrally with the drive roller 63 is attached to the surface of the drive roller 63 that faces the roller drive motor 62 (the left surface in FIG. 8).

[0038] The first driven roller 64 is formed in a cylindrical shape and is arranged inside the case portion 61 at a position opposite the drive roller 63 with the filler injection tube 32 sandwiched therebetween (below the drive roller 63 in Figures 7 and 8). A first support shaft 64a is attached to the inner circumferential surface of the first driven roller 64.

[0039] The first support shaft 64a is supported rotatably relative to the case portion 61. A first driven roller contact portion 64b is formed on the outer circumferential surface of the first driven roller 64, which is pressed against the outer circumferential surface of the filler injection tube 32. The first driven roller contact portion 64b faces the drive roller contact portion 63a along the direction in which the drive roller 63 and the first driven roller 64 are arranged (the vertical direction in Figs. 7 and 8).

[0040] Further, the first driven roller 64 is provided with a first driven sprocket 64c which is arranged parallel to the driving sprocket 63b when viewed in the longitudinal direction of the filler injection pipe 32. The first driven sprocket 64 c rotates integrally with the first driven roller 64 .

[0041] The second driven roller 65 is formed in a cylindrical shape and is arranged inside the case portion 61, along the longitudinal direction of the filler injection tube 32, in a position opposite the drive roller 63 (to the right of the drive roller 63 in Figure 7). The second driven roller 65 has an inner circumferential surface to which a second support shaft 65a is attached.

[0042] The second support shaft 65a is supported rotatably relative to the case portion 61. A second driven roller contact portion 65b is formed on the outer circumferential surface of the second driven roller 65, which is pressed against the outer circumferential surface of the filler injection tube 32. The second driven roller contact portion 65b faces the drive roller contact portion 63a along the longitudinal direction of the filler injection tube 32.

[0043] Further, the second driven roller 65 is provided with a second driven sprocket 65c which is arranged parallel to the first driven sprocket 64c when viewed in the longitudinal direction of the filler injection pipe 32. The second driven sprocket 65c rotates integrally with the second driven roller 65.

[0044] The third driven roller 66 is formed in a cylindrical shape and is arranged inside the case portion 61 at a position opposite to the second driven roller 65 with the filler injection tube 32 sandwiched therebetween (in Figure 7, below the second driven roller 65). A third support shaft 66a is attached to the inner circumferential surface of the third driven roller 66.

[0045] The third support shaft 66a is supported rotatably relative to the case portion 61. A third driven roller contact portion 66b is formed on the outer circumferential surface of the third driven roller 66, which is pressed against the outer circumferential surface of the filler injection tube 32. The third driven roller contact portion 66b faces the second driven roller contact portion 65b along the direction in which the second driven roller 65 and the third driven roller 66 are arranged (the up-down direction in FIGS. 6 and 7).

[0046] Further, a third driven sprocket 66c is attached to the third driven roller 66 and is arranged parallel to the second driven sprocket 65c when viewed in the longitudinal direction of the filler injection pipe 32. The third driven sprocket 66 c rotates integrally with the third driven roller 66 .

[0047] The roller chain 67 is combined with the drive sprocket 63b, the first driven sprocket 64c, the second driven sprocket 65c, and the third driven sprocket 66c. For the sake of explanation, the roller chain 67 is not shown in Figures 6 and 8. Therefore, when the roller drive motor 62 is rotated, the drive roller 63 rotates via the roller rotation shaft 62a. The rotation of the drive roller 63 is then transmitted from the drive sprocket 63b to the first driven sprocket 64c, the second driven sprocket 65c, and the third driven sprocket 66c via the roller chain 67. As a result, when the roller drive motor 62 is rotated, the drive roller 63, the first driven roller 64, the second driven roller 65, and the third driven roller 66 rotate.

[0048] The tension sprocket 68 is disposed between the drive roller 63 and the third driven roller 66 and is combined with the roller chain 67 . The adjuster mechanism 69 adjusts the tension of the roller chain 67 by moving the tension sprocket 68 in a direction that extends or shortens the path of the roller chain 67 . The rotation sensor CS is a sensor that outputs a pulse in response to the rotation of the third support shaft 66a, and is disposed outside the case portion 61. The pulses output by the rotation sensor CS are input to an insertion length detection unit .

[0049] As described above, the injection tube moving unit 60 rotates the roller drive motor 62 to move the filler injection tube 32, which is sandwiched between a set of a drive roller 63 and a first driven roller 64, and a set of a second driven roller 65 and a third driven roller 66, in the longitudinal direction of the filler injection tube 32.

[0050] The mortar pump MP is disposed behind the drive unit 2, and can start and stop discharging mortar by controlling its operation with a pump control unit 38. The mortar pump MP may be configured to be mounted behind the bogie 1 (vehicle body), or may be configured to be mounted on a bogie separate from the bogie 1. The amount of mortar discharged by operating the mortar pump MP is a fixed amount.

[0051] The relative distance measuring unit 33 measures the relative distance between the part of the injection pipe moving unit 60 that sends out the filler injection pipe 32 toward the surrounding wall surface where the rock bolt insertion hole has been drilled, and the surrounding wall surface, depending on the position to start drilling, which is calculated based on the amount of protrusion of the anchor 23 when the anchor 23 is in contact with the surrounding wall surface and the amount of movement of the hole drilling drifter 4D along the hole drilling guide shell 5D. In addition, the part of the injection pipe moving section 60 that sends the filler injection pipe 32 toward the peripheral wall surface in which the rock bolt insertion hole is drilled is, for example, the opposing surface 61a of the case section 61 that faces the peripheral wall surface (the right-hand surface in Figure 5). The position at which to start drilling is determined, for example, from the change in pressure that occurs when the bit 21 strikes the peripheral wall surface.

[0052] The insertion length detection unit 34 calculates the length of the filler injection tube 32 fed out by the injection tube movement unit 60 based on the pulses output by the rotation sensor and the radius of the drive roller 63 (for example, the radius based on the part of the outer circumferential surface of the drive roller 63 that is closest to the center of the drive roller 63), and detects the insertion length. The insertion length is the length of the filler injection tube 32 inserted into the rock bolt insertion hole. Moreover, the insertion length detection unit 34 uses the relative distance measured by the relative distance measurement unit 33 to correct the insertion length.

[0053] The retraction speed calculation unit 35 calculates the retraction speed, which is the speed at which the filler injection pipe 32 is being removed from the rock bolt insertion hole, according to the amount of change per unit time in the insertion length detected by the insertion length detection unit 34. The depth acquisition unit 36 ​​acquires the depth of the rock bolt insertion hole from the drilling device 20 that drilled the rock bolt insertion hole.

[0054] The motor control unit 37 controls the rotation of the roller drive motor 62 . Specifically, the motor control unit 37 controls the rotation of the roller drive motor 62 so that the filler injection pipe 32 is inserted into the rock bolt insertion hole before the mortar pump MP starts discharging mortar. At this time, the motor control unit 37 controls the rotation of the roller drive motor 62 so that the length by which the filler injection tube 32 is inserted into the rock bolt insertion hole is less than the depth of the rock bolt insertion hole acquired by the depth acquisition unit 36. In addition, the motor control unit 37 controls the rotation of the roller drive motor 62 so as to start removing the filler injection pipe 32 inserted into the rock bolt insertion hole while the mortar pump MP is discharging mortar. In addition, "when the mortar pump MP is discharging mortar" includes the time when the mortar pump MP starts discharging mortar and the time when the mortar pump MP continues discharging mortar after starting to discharge mortar.

[0055] In addition, the motor control unit 37 controls the speed at which the filler injection pipe 32 is removed from the rock bolt insertion hole depending on the state of mortar being discharged from the filler injection pipe 32 after the pump control unit 38 stops discharging the mortar. The state in which mortar is discharged from the filler injection pipe 32 after the pump control unit 38 stops discharging the mortar is stored in advance.

[0056] When the mortar pump MP is discharging mortar, it discharges the mortar at a high pressure necessary for transporting the mortar over a long distance. Therefore, when discharging the mortar, the injection hose MH is expanded by the high pressure, and even if the mortar pump MP is stopped, the discharge of the mortar from the filler injection pipe 32 does not stop immediately, but the discharge of the mortar continues due to the remaining pressure, and the discharge amount gradually decreases as the remaining pressure decreases. Therefore, the motor control unit 37 pre-stores the discharge amount that gradually decreases as the remaining pressure decreases, representing the state in which mortar is discharged from the filler injection pipe 32 after the pump control unit 38 stops discharging the mortar.

[0057] The pump control unit 38 electrically controls the operation of the mortar pump MP. In addition, when the insertion length detected by the insertion length detection unit 34 reaches the stop reference insertion length while the filler injection pipe 32 inserted into the rock bolt insertion hole is being removed, the pump control unit 38 stops the discharge of mortar.

[0058] The stop reference insertion length is the length at which the filler injection pipe 32 is present inside the rock bolt insertion hole, and is a preset value. In addition, the stop reference insertion length is set in advance based on, for example, the amount of mortar discharged by the mortar pump MP during operation, the shape of the rock bolt insertion hole (including, for example, the depth and inner diameter), and the shape of the filler injection pipe 32 (including, for example, the inner diameter and outer diameter). Furthermore, the stop reference insertion length is set so that mortar is not discharged from the filler injection pipe 32 outside the rock bolt insertion hole.

[0059] Furthermore, the pump control unit 38 corrects the timing for stopping the discharge of mortar according to the retreat speed calculated by the retreat speed calculation unit 35. For example, the pump control unit 38 performs a correction such that the timing for stopping the discharge of mortar is advanced as the retreat speed calculated by the retreat speed calculation unit 35 becomes faster. The pump control unit 38 may be configured to correct the stop reference insertion length for stopping the discharge of mortar according to the retreat speed calculated by the retreat speed calculation unit 35. In this case, for example, the pump control unit 38 performs a correction such that the stop reference insertion length is made longer as the retreat speed calculated by the retreat speed calculation unit 35 is faster.

[0060] <Rock bolt insertion device> The rock bolt insertion device 40 is a device capable of inserting a rock bolt into a rock bolt insertion hole. In addition, the rock bolt insertion device 40 includes a driving device main body 41 and a rock bolt supply device 50. The concrete pouring device main body 41 includes a concrete pouring drifter 4M, a concrete pouring guide shell 5M, a concrete pouring side feed mechanism 45, a first bolt clamp 46, and a second bolt clamp 47.

[0061] The concrete pouring drifter 4M is formed, for example, by using a hydraulic drifter, and is attached to the concrete pouring guide shell 5M. The concrete pouring drifter 4M can move along the concrete pouring guide shell 5M during concrete pouring work or the like.

[0062] The concrete pouring guide shell 5M is attached to the mount frame 43a in a state in which it can be tilted and rotated relative to the first boom device 3L, and is supported by the first boom device 3L.

[0063] The concrete pouring side feed mechanism 45 is, for example, a movable pulley type mechanism using a hydraulic cylinder, and is a mechanism capable of moving the concrete pouring drifter 4M along the concrete pouring guide shell 5M. The concrete pouring side feed mechanism 45 is also capable of moving the concrete pouring drifter 4M along the reference axis line BLL.

[0064] The first bolt clamp 46 is formed using a flexible material such as urethane rubber, and is attached to the tip of the casting guide shell 5M. In addition, the first bolt clamp 46 is formed into a shape capable of holding the lock bolt B.

[0065] The second bolt clamp 47, like the first bolt clamp 46, is formed of a flexible material such as urethane rubber, and is attached to the casting guide shell 5M at a position closer to the casting drifter 4M than the first bolt clamp 46. Specifically, the second bolt clamp 47 is attached to the slider (front slider) disposed at the front of the two sliders provided in the casting side feed mechanism 45. Note that the position at which the second bolt clamp 47 is attached is limited to the upper surface of the front slider because the casting side feed mechanism 45 is a movable pulley type mechanism. Therefore, the second bolt clamp 47 moves along the concrete pouring guide shell 5M in accordance with the movement of the concrete pouring drifter 4M along the concrete pouring guide shell 5M. In other words, when the concrete pouring drifter 4M advances, the second bolt clamp 47 also advances at half the speed at which the concrete pouring drifter 4M advances (moves to the left in Figs. 2 and 3). Further, the second bolt clamp 47 is formed into a shape capable of holding the lock bolt B, similar to the first clamp portion 46a.

[0066] In addition, the first bolt clamp 46 and the second bolt clamp 47 can be rotated around the central axis of the anchor 23 by the position switching mechanism, so that their relative positions with respect to the lock bolt magazine 51 described later can be changed between a receiving position and an insertion position described later. In other words, by tilting the casting guide shell 5M with respect to the first boom device 3L, it is possible to change its relative position with respect to the lock bolt magazine 51 so that the first bolt clamp 46 and the second bolt clamp 47 move between the receiving position and the insertion position.

[0067] The receiving position is a position where one lock bolt B stored in the lock bolt magazine 51 is received from the lock bolt magazine 51. In addition, at the receiving position, the openings of the first bolt clamp 46 and the second bolt clamp 47 are oriented tangentially to the trajectory along which the lock bolt B stored in the lock bolt magazine 51 moves. The insertion position is a position where one lock bolt B received at the receiving position is inserted into the lock bolt insertion hole.

[0068] An impact force is transmitted from the concrete pouring drifter 4M to the single rock bolt B held by the first bolt clamp 46 and the second bolt clamp 47 which have been moved to the insertion position, and a moving force can be applied to the concrete pouring drifter 4M by moving the concrete pouring side feed mechanism 45. This makes it possible to push the lock bolt B into the lock bolt insertion hole along the depth direction of the lock bolt insertion hole. 2 and 3 show a state in which the first bolt clamp 46 and the second bolt clamp 47 are in the receiving position relative to the lock bolt supply device 50.

[0069] <Rock bolt supply device> The rock bolt supplying device 50 includes a rock bolt magazine 51 . The lock bolt magazine 51 includes a magazine rotation shaft 53, a first bolt retaining plate 54, a second bolt retaining plate 55, and a third bolt retaining plate 56.

[0070] The magazine rotation shaft 53 is formed in a cylindrical shape and is attached to the mount frame 43a. The length direction of the magazine rotation shaft 53 is parallel to the length direction of the pouring guide shell 5M.

[0071] In addition, the magazine rotation shaft 53 can rotate about the central axis of the magazine rotation shaft 53 by driving a magazine drive motor (not shown). That is, the rotation axis of the lock bolt magazine 51 is the central axis of the magazine rotation shaft 53. The magazine drive motor is formed by using, for example, a hydraulic motor, and the hydraulic pressure for driving the hydraulic motor is electrically controlled by, for example, an electromagnetic proportional valve. The rotation speed, rotation torque, rotation angle, etc. of the magazine rotation shaft 53 are controlled by a motor control mechanism (not shown) that controls the drive state of the magazine drive motor.

[0072] First bolt retaining plate 54, second bolt retaining plate 55, and third bolt retaining plate 56 are formed in a plate shape using a flexible material such as urethane rubber. Moreover, first bolt retaining plate 54, second bolt retaining plate 55, and third bolt retaining plate 56 each have a plurality of bolt retaining portions. In the embodiment, as an example, a configuration having nine bolt retaining portions will be described. Furthermore, first bolt retaining plate 54, second bolt retaining plate 55, and third bolt retaining plate 56 are arranged at intervals from one another along the longitudinal direction of lock bolt B. Specifically, first bolt retaining plate 54 is arranged near first bolt clamp 46, and second bolt retaining plate 55 is arranged near second bolt clamp 47. Furthermore, third bolt retaining plate 56 is arranged at a position close to the rear end of lock bolt B.

[0073] As described above, the lock bolt magazine 51 is capable of storing multiple (nine) lock bolts B arranged in parallel (arranged with their length directions parallel). The lock bolt magazine 51 is also capable of rotating about an axis of rotation (magazine rotation axis 53) that is parallel to the length direction of the stored lock bolts B and around which the multiple lock bolts B are arranged. The lock bolt magazine 51 is also capable of storing nine lock bolts B arranged in a ring shape.

[0074] <How to install rock bolts> Next, a method for driving a rock bolt B using the mortar injection device 31 and the rock bolt driving vehicle 100 (rock bolt driving method) will be described using Figs. 9 to 12 while also referring to Figs. 1 to 7. Since the work using the boom device 10L for driving the first rock bolt and the work using the boom device 10R for driving the second rock bolt are similar, the following explanation will only describe the work using the boom device 10L for driving the first rock bolt.

[0075] (Drilling work) When using the rock bolt driving vehicle 100, first, the rock bolt driving vehicle 100 is set up near the face of the tunnel T. Then, the first rock bolt driving boom device 10L is driven to place the first rock bolt driving boom device 10L at a desired position relative to the peripheral wall surface. Next, the reference axis BLL of the hole drilling device 20 is set to the drilling axis of a desired rock bolt insertion hole by the position switching mechanism. Then, the hole drilling device 20 is used to perform the hole drilling operation.

[0076] The drilling axis of the rock bolt insertion hole is, for example, the central axis of the rock bolt insertion hole to be drilled. In addition to performing the drilling operation using the hole drilling device 20, the reference axis BLL of the hole drilling device 20 is aligned with the drilling axis of the lock bolt insertion hole, and then the magazine drive motor is driven to rotate the magazine rotation shaft 53, and one lock bolt B held in the lock bolt magazine 51 is pushed into the first bolt clamp 46 and the second bolt clamp 47. As a result, the one lock bolt B held in the lock bolt magazine 51 is further held by the first bolt clamp 46 and the second bolt clamp 47. After the drilling of the rock bolt insertion holes to a predetermined depth is completed by the hole-drilling drifter 4D, the position switching mechanism is driven to move the reference axis line BLL of the mortar injection device 31, and the reference axis line BLL of the grout injection device 31 is positioned on the drilling axis line of the rock bolt insertion holes H. Then, the drilling operation is switched to the injection operation. Furthermore, when the position switching mechanism is driven to move the reference axis line BLL of the grout injection device 31, one rock bolt B is pulled out from the rock bolt magazine 51 together with the movement of the reference axis line BLL of the grout injection device 31. As a result, the one rock bolt B is held by the first bolt clamp 46 and the second bolt clamp 47. In this way, the operation of pulling out the rock bolt B from the rock bolt magazine 51 is performed by utilizing the force of rotating the drilling device 20, the grout injection device 31 and the rock bolt insertion device 40 by the position switching mechanism. The movement of the rock bolt B is performed in parallel with the hole drilling operation, after it is received in the posture for the hole drilling operation and then the transfer is completed when the operation is shifted to the injection operation.

[0077] (Injection work) In the injection operation, the reference axis line BLL of the mortar injection device 31 is aligned with the rock bolt insertion hole H, and then the filler injection pipe 32 is inserted into the rock bolt insertion hole H as shown in Figures 9 and 10. At this time, the injection pipe movement unit 60 inserts the filler injection pipe 32 into the rock bolt insertion hole H before the mortar pump MP starts discharging mortar. Thereafter, as shown in Fig. 11, the filler injection pipe 32 is inserted all the way into the rock bolt insertion hole H, and then the mortar pump MP is operated to pump mortar out of the injection hose MH. Then, as shown in Fig. 12, while the filler injection pipe 32 is retracted, mortar MO is discharged from the other end of the filler injection pipe 32 (the left end in Fig. 12), and filling of the mortar MO into the rock bolt insertion hole H begins. That is, the injection pipe movement unit 60 starts to remove the filler injection pipe 32 inserted into the rock bolt insertion hole H while the mortar pump MP is discharging mortar MO.

[0078] As described above, the amount of mortar MO discharged by operating the mortar pump MP is fixed. Therefore, the filling rate of the mortar MO in the rock bolt insertion hole H is adjusted by the speed at which the filler injection pipe 32 is retracted (the speed at which the filler injection pipe 32 is removed from the rock bolt insertion hole H). Then, when the insertion length detected by the insertion length detection unit 34 reaches the stop reference insertion length, the pump control unit 38 stops the operation of the mortar pump MP to stop the discharge of mortar MO. That is, when the insertion length detected by the insertion length detection unit 34 reaches the stop reference insertion length while the filler injection pipe 32 inserted into the rock bolt insertion hole H is being removed, the pump control unit 38 stops the discharge of mortar MO.

[0079] Even after the operation of the mortar pump MP is electrically stopped by the pump control unit 38, the discharge of mortar MO from the filler injection pipe 32 does not immediately stop, but the discharge of mortar MO continues due to the remaining pressure, and the discharge amount gradually decreases as the remaining pressure decreases. Here, in the mortar injection device 31 of the embodiment, when the insertion length detected by the insertion length detection unit 34 reaches the stop reference insertion length, the pump control unit 38 stops the operation of the mortar pump MP. Therefore, it is possible to prevent the mortar MO from being discharged from the filler injection pipe 32 to the outside of the rock bolt insertion hole H during the injection work.

[0080] After the filling of the rock bolt insertion hole H with mortar MO is completed, the position switching mechanism is driven to align the reference axis line BLL of the rock bolt insertion device 40 with the rock bolt insertion hole H, and the positions of the first bolt clamp 46 and the second bolt clamp 47 are set to the insertion position. Then, the injection operation is switched to the insertion operation.

[0081] (Insertion work) In the insertion operation, the rock bolt B held by the first bolt clamp 46 and the second bolt clamp 47 at the insertion position is fed to the driving mechanism of the rock bolt insertion device 40, which is an existing mechanism, and the driving mechanism 4M is advanced by the feeding force. This causes the rock bolt B to be inserted into the rock bolt insertion hole H.

[0082] As described above, the mortar injection method is a method of injecting mortar MO into a rock bolt insertion hole H. Also, the mortar injection method is a method of injecting mortar MO into a rock bolt insertion hole H using a mortar injection device 31. Furthermore, the mortar injection method is a method of injecting mortar MO into a rock bolt insertion hole H using a rock bolt driving vehicle 100.

[0083] <Actions and Effects of the Embodiment> The mortar injection device 31 of the embodiment can provide the following actions and effects. (1) The injection pipe movement unit 60 inserts the filler injection pipe 32 into the rock bolt insertion hole H before the mortar pump MP starts discharging mortar MO. Furthermore, while the mortar pump MP is discharging mortar MO, the injection pipe movement unit 60 starts removing the filler injection pipe 32 inserted into the rock bolt insertion hole H. In addition, when the insertion length detected by the insertion length detection unit 34 during the removal of the filler injection pipe 32 inserted into the rock bolt insertion hole H reaches the stop reference insertion length, the pump control unit 38 stops the discharge of mortar.

[0084] As a result, it is possible to provide a mortar injection device 31 that is capable of stopping the discharge of mortar MO from the filler injection pipe 32 at an appropriate timing. This makes it possible to reduce the amount of mortar MO that is wasted, and also makes it possible to prevent mortar MO from adhering to the body of the rock bolt driving vehicle 100 or the like.

[0085] (2) Further provided with a retraction speed calculation unit 35 that calculates a retraction speed, which is the speed at which the filler injection pipe 32 is being removed, according to the amount of change per unit time of the insertion length detected by the insertion length detection unit 34. In addition, a pump control unit 38 corrects the timing to stop discharging the mortar MO according to the retraction speed calculated by the retraction speed calculation unit 35.

[0086] As a result, depending on the speed at which the filler injection pipe 32 is removed from the rock bolt insertion hole H, it is possible to stop the discharge of mortar MO from the filler injection pipe 32 at an appropriate timing.

[0087] (3) The injection pipe moving unit 60 controls the speed at which the filler injection pipe 32 is removed depending on the state of mortar MO being discharged from the filler injection pipe 32 after the pump control unit 38 stops discharging the mortar MO. As a result, after the operation of the mortar pump MP is stopped by the pump control unit 38, the speed (retraction speed) at which the filler injection pipe 32 is removed is reduced according to the remaining pressure and the discharge amount of mortar MO that gradually decreases according to the decrease in the remaining pressure. This makes it possible to maintain the filling rate of mortar MO in the rock bolt insertion hole H at a constant value.

[0088] (4) The injection pipe moving unit 60 further includes a portion that sends out the filler injection pipe 32 toward the peripheral wall surface N where the rock bolt insertion hole H is drilled, and a relative distance measuring unit 33 that measures the relative distance between the peripheral wall surface N. In addition, the insertion length detecting unit 34 corrects the detected insertion length in accordance with the relative distance measured by the relative distance measuring unit 33. As a result, it is possible to improve the accuracy of detecting the insertion length by correcting the detected insertion length according to the relative distance measured by relative distance measuring unit 33. Note that if the relative position between injection pipe moving unit 60 and lock bolt insertion hole H changes, it is difficult to detect the accurate insertion length. (5) Further provided with a depth acquisition unit 36 ​​that acquires the depth of the rock bolt insertion hole H from the hole drilling device 20 that drilled the rock bolt insertion hole H. In addition, the injection pipe moving unit 60 controls the length by which the filler injection pipe 32 is inserted into the rock bolt insertion hole H to be equal to or less than the depth acquired by the depth acquisition unit 36. As a result, it is possible to prevent the filler injection pipe 32 from colliding with the bottom surface of the rock bolt insertion hole H, and therefore it is possible to prevent damage to the filler injection pipe 32.

[0089] The rock bolt driving vehicle 100 of the embodiment can achieve the following actions and effects. (6) Equipped with a mortar injection device 31 and a cart 1 on which the mortar injection device 31 is mounted. As a result, it is possible to provide a rock bolt driving vehicle 100 that is capable of stopping the discharge of mortar MO from the filler injection pipe 32 at an appropriate timing.

[0090] The mortar injection method of the embodiment can achieve the following actions and effects. (7) Using the mortar injection device 31, inject mortar MO into the rock bolt insertion hole H. As a result, it is possible to provide a mortar injection method that makes it possible to stop the discharge of mortar MO from the filler injection pipe 32 at an appropriate timing.

[0091] (8) Using the rock bolt driving vehicle 100, mortar MO is injected into the rock bolt insertion hole H. As a result, it is possible to provide a mortar injection method that makes it possible to stop the discharge of mortar MO from the filler injection pipe 32 at an appropriate timing.

[0092] <Modification> (1) In the embodiment, the relative distance measuring unit 33 is configured to measure the relative distance based on the position at which drilling should start, which is calculated based on the amount of protrusion of the anchor 23 when the anchor 23 is in contact with the peripheral wall surface N and the amount of movement of the drilling drifter 4D along the drilling guide shell 5D, but this is not limited to this. That is, the relative distance measuring unit 33 may be configured to measure the relative distance using, for example, a laser or the like.

[0093] (2) In the embodiment, the configuration includes two rock bolt driving boom devices (first rock bolt driving boom device 10L and second rock bolt driving boom device 10R), but the present invention is not limited to this. In other words, for example, the configuration may include three or more rock bolt driving boom devices. In this case, in a configuration with three rock bolt driving boom devices, for example, two rock bolt driving boom devices are arranged on the left and right sides of the dolly 1, and one rock bolt driving boom device is arranged in the center of the front part of the dolly 1. In a configuration with four rock bolt driving boom devices, for example, two rock bolt driving boom devices are arranged on the left and right sides of the dolly 1. As long as there are at least two rock bolt driving boom devices, the other devices can be devices suitable for various purposes.

[0094] The present technology can be configured as follows. (1) A mortar injection device capable of inserting and removing a filler injection pipe into and from a rock bolt insertion hole and discharging mortar from the filler injection pipe, An injection tube moving unit that moves the filler injection tube; an insertion length detection unit that detects an insertion length, which is a length of the filler injection pipe inserted into the rock bolt insertion hole; A pump control unit that controls the operation of a mortar pump that discharges the mortar, the injection pipe moving unit inserts the filler injection pipe into the rock bolt insertion hole before the mortar pump starts discharging mortar, and starts removing the filler injection pipe inserted into the rock bolt insertion hole while the mortar pump is discharging mortar; The pump control unit of the mortar injection device stops the discharge of the mortar when the insertion length detected by the insertion length detection unit during the removal of the filler injection tube inserted into the rock bolt insertion hole is the length of the filler injection tube inside the rock bolt insertion hole and becomes a predetermined stop standard insertion length. (2) a retraction speed calculation unit that calculates a retraction speed, which is a speed at which the filler injection tube is removed, in accordance with a change in the insertion length per unit time detected by the insertion length detection unit; The rock bolt insertion device according to (1) above, wherein the pump control unit corrects the timing for stopping the discharge of the mortar in accordance with the retreat speed calculated by the retreat speed calculation unit. (3) A rock bolt insertion device as described in (1) or (2), wherein the injection pipe moving unit controls the speed at which the filler injection pipe is removed depending on the state of mortar being discharged from the filler injection pipe after the pump control unit stops discharging the mortar. (4) The filling material injection pipe moving unit further includes a relative distance measuring unit that measures a relative distance between a portion of the filling material injection pipe that moves toward the peripheral wall surface where the rock bolt insertion hole is drilled and the peripheral wall surface, The rock bolt insertion device according to any one of (1) to (3), wherein the insertion length detection unit corrects the detected insertion length in accordance with the relative distance measured by the relative distance measurement unit. (5) A depth acquisition unit that acquires the depth of the rock bolt insertion hole from a drilling device that drills the rock bolt insertion hole, A rock bolt insertion device described in any of (1) to (4), wherein the injection pipe moving unit controls the length by which the filler injection pipe is inserted into the rock bolt insertion hole to be equal to or less than the depth acquired by the depth acquisition unit. (6) A rock bolt driving vehicle comprising the mortar injection device according to any one of (1) to (5) above, and a carriage carrying the mortar injection device. (7) A mortar injection method for injecting mortar into the rock bolt insertion hole, A mortar injection method for injecting mortar into the rock bolt insertion hole by using the mortar injection device according to any one of (1) to (5) above. (8) A mortar injection method for injecting mortar into the rock bolt insertion hole, A mortar injection method for injecting the mortar into the rock bolt insertion hole using the rock bolt driving vehicle described in (6) above. [Explanation of symbols]

[0095] 1 Cart 2 Drive unit 3L First Boom Device 3R Second boom device 4D Drilling Drifter 4M Concrete Drifter 5D Drilling Guide Shell 5M Concrete Guide Shell 6 Operator Cabin 7 Front wheel 8 Rear Wheel 9 Outrigger 10L First rock bolt installation boom device 10R Second rock bolt installation boom device 12L First Cage Boom 12R Second cage boom 13L First Cage 13R Second Cage 20 Drilling Equipment 21-bit 22 Drilling Rod 23 Anchor 24 Drilling centralizer 25 Drilling side feed mechanism 30L First rock bolt installation device 30R Second rock bolt installation device 31 Mortar injection device 32 Filler injection pipe 33 Relative distance measurement unit 34 Insertion length detection unit 35 Reverse speed calculation section 36 Depth acquisition section 37 Motor control unit 38 Pump control section 40 Rock bolt insertion device 41 Concrete pouring device body 42 Guide Rotary 43 Mounting Device 43a Mounting frame 45 Concrete side feed mechanism 46 First bolt clamp 47 Second bolt clamp 50 Rock bolt supply device 51 Lock bolt magazine 53 Magazine Rotation Axis 54 First bolt retaining plate 55 Second bolt retaining plate 56 Third bolt retaining plate 60 Injection tube moving part 60 61 Case part 61a Opposite side 62 Roller drive motor 62a Roller shaft 63 Drive roller 63a Drive roller contact part 63b Drive sprocket 64 First driven roller 64a First support shaft 64b First driven roller contact portion 64c First driven sprocket 65 Second driven roller 65a Second support shaft 65b second driven roller contact portion 65c second driven sprocket 66 Third driven roller 66a Third support shaft 66b Third driven roller contact portion 66c Third driven sprocket 67 Roller Chain 68 Tension sprocket 69 Adjuster mechanism 100 Rock bolting vehicle MH injection hose MP Mortar Pump PG Pipe Guard CS Rotation Sensor H Lock bolt insertion hole T-Tunnel N Surrounding wall surface MO Mortar

Claims

1. A mortar injection device capable of inserting and removing a filler injection pipe into and from a rock bolt insertion hole and discharging mortar from the filler injection pipe, An injection tube moving unit that moves the filler injection tube; an insertion length detection unit that detects an insertion length, which is a length of the filler injection pipe inserted into the rock bolt insertion hole; A pump control unit that controls the operation of a mortar pump that discharges the mortar, the injection pipe moving unit inserts the filler injection pipe into the rock bolt insertion hole before the mortar pump starts discharging mortar, and starts removing the filler injection pipe inserted into the rock bolt insertion hole while the mortar pump is discharging mortar; The pump control unit of the mortar injection device stops the discharge of the mortar when the insertion length detected by the insertion length detection unit during the removal of the filler injection tube inserted into the rock bolt insertion hole is the length of the filler injection tube inside the rock bolt insertion hole and becomes a predetermined stop standard insertion length.

2. a retraction speed calculation unit that calculates a retraction speed, which is a speed at which the filler injection tube is removed, in accordance with a change in the insertion length per unit time detected by the insertion length detection unit; The mortar injection device according to claim 1 , wherein the pump control unit corrects a timing for stopping the discharge of the mortar in accordance with the retreat speed calculated by the retreat speed calculation unit.

3. The mortar injection device described in claim 1, wherein the injection pipe moving unit controls the speed at which the filler injection pipe is removed depending on the state of mortar being discharged from the filler injection pipe after the pump control unit stops discharging the mortar.

4. The filling material injection pipe moving unit further includes a relative distance measuring unit that measures a relative distance between a portion of the filling material injection pipe that moves toward the peripheral wall surface where the rock bolt insertion hole is drilled and the peripheral wall surface, 2. The mortar injection device according to claim 1, wherein the insertion length detection unit corrects the detected insertion length in accordance with the relative distance measured by the relative distance measurement unit.

5. A depth acquisition unit that acquires the depth of the rock bolt insertion hole from a drilling device that drills the rock bolt insertion hole, The mortar injection device according to claim 1 , wherein the injection pipe movement unit controls the length by which the filler injection pipe is inserted into the rock bolt insertion hole to be equal to or less than the depth acquired by the depth acquisition unit.

6. A rock bolt driving vehicle comprising: a mortar injection device according to any one of claims 1 to 5; and a bogie carrying the mortar injection device.

7. A mortar injection method for injecting mortar into the rock bolt insertion hole, A mortar injection method comprising the steps of: injecting mortar into the rock bolt insertion hole by using the mortar injection device according to any one of claims 1 to 5.

8. A mortar injection method for injecting mortar into the rock bolt insertion hole, A mortar injection method for injecting the mortar into the rock bolt insertion hole using the rock bolt driving vehicle described in claim 6.

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