Insertion device and insertion method

Abstract

To effectively improve work efficiency and productivity.SOLUTION: The present invention comprises a guide member 21, a propulsion device 22 having a moving member 22A movably provided on the guide member 21 and an actuator 23, a support member 25 provided on a tip side of the guide member 21, which has a through hole 25A through which a rod-shaped member 303 is inserted, and which supports the rod-shaped member 303 inserted through the through-hole 25A so as to be axially movable and radially displaceable, a sensor unit 80 provided in the support member 25 and capable of detecting radial displacement of the rod-shaped member 303 in the through hole 25A, and a determination unit 100 that determines whether the axial direction XH of a hole 301 is inclined with respect to the axial direction XA of the rod-shaped member 303 based on the displacement of the rod-shaped member 303 detected by the sensor unit 80 during the insertion operation of transmitting the driving force from the actuator 23 to the moving member 25A to insert the rod-shaped member 303 into the hole 301.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to an insertion device and an insertion method, and more particularly to a technique suitable for inserting a rod-shaped member into a hole. [Background technology]

[0002] The New Austrian Tunneling Method (NATM) is a widely used tunnel construction method, in which multiple rock bolts are installed in the tunnel walls to stabilize the surrounding ground. In NATM, holes are drilled through the shotcrete to reach the ground, and the rock bolts are installed by injecting filler material into the drilled holes and inserting the rock bolts in any order.

[0003] For example, Patent Document 1 discloses an apparatus used for installing such rock bolts. The apparatus includes a drive mechanism that transmits a driving force to a drifter that can move along a guide cell, and the drive mechanism moves the drifter forward along the guide cell, thereby mechanically inserting the rock bolt or filler injection rod into the hole. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2019-065536 Summary of the Invention [Problem to be solved by the invention]

[0005] When inserting a rock bolt or injection rod (hereinafter simply referred to as a rod-shaped member) into a hole, if the axial direction of the rod-shaped member does not coincide with the axial direction of the hole, the tip of the rod-shaped member may come into contact with the inner surface of the hole, preventing the rod-shaped member from being inserted to the desired position within the hole. Furthermore, if the rod-shaped member is inserted when there is an obstacle such as a pebble in the hole, the tip of the rod-shaped member may come into contact with the obstacle, preventing the rod-shaped member from being inserted to the desired position within the hole. Attempting to forcefully insert the rod-shaped member in such a state may result in deformation or damage to the rod-shaped member.

[0006] For this reason, when inserting a rod-shaped member into a hole, it is conceivable to determine the axial direction of the hole and any obstacles inside by inserting a camera or the like into the hole and taking measurements in advance. However, even if the axial direction of the hole and other information can be determined through advance measurements, it is difficult to reflect that information in the insertion operation of the rod-shaped member. Furthermore, performing advance measurements can also lead to reduced work efficiency and productivity.

[0007] The technology disclosed herein has been made in consideration of the above circumstances, and aims to provide a technology that can effectively improve work efficiency and productivity when inserting a rod-shaped member into a hole. [Means for solving the problem]

[0008] The insertion device of the present disclosure comprises: An insertion device for inserting a rod-shaped member into a hole, a guide member extending substantially parallel to the axial direction of the rod-shaped member; a propulsion device provided on the guide member so as to be movable along the longitudinal direction of the guide member, the propulsion device including a moving member supporting a base end of the rod-shaped member, and an actuator transmitting a propulsive force to the moving member; a support member provided on a tip side of the guide member, having a through hole through which the rod-shaped member is inserted, and supporting the rod-shaped member inserted into the through hole so as to be movable in an axial direction and displaceable in a radial direction; a sensor unit provided in the support member and capable of detecting displacement of the rod-shaped member in the through hole in the radial direction; The present invention is characterized in that it is equipped with a judgment unit that judges whether the axial direction of the hole is inclined relative to the axial direction of the rod-shaped member based on the radial displacement of the rod-shaped member detected by the sensor unit during an insertion operation in which a propulsive force is transmitted from the actuator to the moving member to insert the rod-shaped member into the hole.

[0009] In another aspect of the insertion device of the present disclosure, The determination unit If the thrust force of the actuator increases or the amount of feed of the rod-shaped member does not change during the insertion operation and the sensor unit does not detect radial displacement of the rod-shaped member, it is preferable to determine that there is an obstacle in the hole that prevents the rod-shaped member from being inserted.

[0010] In another aspect of the insertion device of the present disclosure, The sensor unit a plurality of load cells arranged at a predetermined pitch in a circumferential direction on an inner periphery of the through hole, the load cells detecting a load in response to a displacement of the rod-shaped member in the radial direction; The determination unit It is preferable to determine the direction of inclination of the axis of the hole relative to the axis of the rod-shaped member based on the orientation of the load cell that detected the load, among the plurality of load cells, relative to the rod-shaped member.

[0011] In another aspect of the insertion device of the present disclosure, an attitude adjustment mechanism capable of adjusting the attitude of the guide member; a control unit that controls the operation of the actuator and the operation of the attitude adjustment mechanism, The control unit It is preferable that the actuator is operated to move the movable member along the guide member, thereby automatically inserting the rod-shaped member into the hole, and that if the sensor unit detects a radial displacement of the rod-shaped member during the automatic insertion, the operation of the attitude adjustment mechanism is automatically controlled so that the sensor unit does not detect the displacement.

[0012] In another aspect of the insertion device of the present disclosure, The rod-shaped member may be either a rock bolt to be inserted into a hole drilled in the tunnel wall, an injection rod for injecting filler into a hole drilled in the tunnel wall, or a loading nozzle for loading explosives into a charge hole drilled in the tunnel face.

[0013] The insertion method of the present disclosure includes: An insertion method for inserting the rod-shaped member into the hole using the insertion device, comprising: After the tip of the rod-shaped member is positioned facing the opening of the hole, the actuator is operated to move the moving member along the guide cell, thereby starting the insertion operation of inserting the rod-shaped member into the hole, and if the sensor unit detects radial displacement of the rod-shaped member during the insertion operation, the posture of the guide member is adjusted so that the sensor unit does not detect displacement, and the insertion operation is continued until the tip of the rod-shaped member reaches the desired position within the hole.

[0014] In another aspect of the insertion method of the present disclosure, If, during the insertion operation, the thrust force of the actuator increases or the amount of feed of the rod-shaped member does not change and the sensor unit does not detect the radial displacement of the rod-shaped member, it is preferable to interrupt the insertion operation by operating the actuator in the reverse direction to pull the rod-shaped member out of the hole, and then resume the insertion operation after removing any obstacle that is preventing the insertion of the rod-shaped member from the hole. [Effects of the Invention]

[0015] According to the insertion device and insertion method of the present disclosure, it is possible to effectively improve work efficiency and productivity when inserting a rod-shaped member into a hole. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 1 is a schematic side view showing a rock bolt installation device according to the present embodiment. [Figure 2] 1 is a schematic overall configuration diagram of a bolt feeding device and a filler injection device according to an embodiment of the present invention. [Figure 3] (A) is a schematic cross-sectional view showing the bolt support part on which the first sensor part is provided, cut in the longitudinal direction of the guide cell, and (B) is a schematic cross-sectional view showing the bolt support part on which the first sensor part is provided, cut in a direction perpendicular to the longitudinal direction of the guide cell. [Figure 4] (A) is a schematic cross-sectional view showing a rod support section on which a second sensor section is provided, cut in the longitudinal direction of the guide cell, and (B) is a schematic cross-sectional view showing a rod support section on which a second sensor section is provided, cut in a direction perpendicular to the longitudinal direction of the guide cell. [Figure 5] FIG. 4 is a schematic diagram illustrating an example of a correction map according to the embodiment. [Figure 6] FIG. 2 is a schematic diagram illustrating a load cell that is a target of correction processing. [Figure 7] 10A and 10B are schematic diagrams illustrating the flow of a process for determining an axis tilt according to the present embodiment based on the operation of the bolt feeding device. [Figure 8] 4 is a timing chart illustrating the flow of a process for determining an axis tilt according to the present embodiment. [Figure 9] 4 is a timing chart illustrating the flow of a process for determining an axis tilt according to the present embodiment. [Figure 10] 4 is a timing chart illustrating the flow of a process for determining an axis tilt according to the present embodiment. [Figure 11] 4 is a timing chart illustrating the flow of a process for determining an axis tilt according to the present embodiment. [Figure 12] 4 is a timing chart illustrating the flow of a process for determining an axis tilt according to the present embodiment. [Figure 13] 4 is a timing chart illustrating the flow of a process for determining an axis tilt according to the present embodiment. [Figure 14] 4 is a timing chart illustrating the flow of a process for determining an axis tilt according to the present embodiment. [Figure 15]4 is a timing chart illustrating the flow of a process for determining an axis tilt according to the present embodiment. [Figure 16] 5 is a schematic diagram illustrating the flow of the obstacle determination process according to the present embodiment based on the operation of the bolt feeding device. FIG. [Figure 17] 4 is a timing chart illustrating the flow of a process for obstacle determination according to the present embodiment. [Figure 18] 4 is a flowchart illustrating a routine for automatic insertion control according to the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0017] The insertion device and the insertion method according to this embodiment will be described below with reference to the accompanying drawings. The same components are denoted by the same reference numerals, and their names and functions are also the same. Therefore, detailed descriptions thereof will not be repeated.

[0018] [Overall configuration] FIG. 1 is a schematic side view showing a rock bolt installation device 10 according to this embodiment.

[0019] As shown in FIG. 1, a rock bolt installation device 10 is used to construct a support structure 300 for a tunnel T. In this embodiment, the tunnel T is constructed by, for example, NATM. In NATM, first, the natural ground G is excavated and shotcrete C is applied to the surrounding wall of the tunnel T. Next, the rock bolt installation device 10 is used to drill holes 301 that penetrate the shotcrete C in the surrounding wall of the tunnel T and reach the natural ground G (drilling step). The holes 301 are elongated holes, for example, with a diameter of approximately 50 to 60 mm and a depth of approximately 4 to 6 m. After the holes 301 have been drilled, a filler 302 is injected into the holes 301, and a rock bolt 303 is inserted into the holes 301 (filling step, insertion step). The filler is, for example, mortar. Once the rock bolt 303 has been inserted, a plate 304 is attached to the end of the rock bolt 303 that protrudes from the hole 301 into the tunnel T, and a nut 305 is screwed in to construct the support structure 300.

[0020] In this embodiment, the rock bolt installation device 10 is mounted on a work vehicle 1, such as a drill jumbo. The work vehicle 1 is equipped with a traveling carriage 2 that can move inside the tunnel T, multiple outriggers 3 that support and stabilize the traveling carriage 2 when installing rock bolts, a driver's cab 4 provided on top of the traveling carriage 2, and multiple booms 5, 6, and 7 (three in the illustrated example).

[0021] Each boom 5, 6, 7 is rotatably and tiltably mounted on the front of the traveling carriage 2, and is rotated and raised / lowered around its base end by operating an actuator (not shown). Each boom 5, 6, 7 is also extendable and contractible in the longitudinal direction by operating an actuator (not shown). A bolt feeding device 20 is rotatably and tiltably attached to the tip of the first boom 5. A filler injection device 30 is rotatably and tiltably attached to the tip of the second boom 6. The bolt feeding device 20 and the filler injection device 30 are examples of insertion devices of the present disclosure. A hole drilling device 40 is rotatably and tiltably attached to the tip of the third boom 7.

[0022] The drilling device 40 includes a linear guide cell 41, a rock drill 43 that can move along the guide cell 41, a propulsion device 44 that transmits propulsive force to the rock drill 43, a long drilling rod 45, and a drilling bit 46 attached to the tip of the drilling rod 45. A rod support 47 (centralizer) that supports the drilling rod 45 is attached to the tip of the guide cell 41. The base end of the drilling rod 45 is connected to the rock drill 43. The rock drill 43 is, for example, a hydraulic drifter that applies rotational force and impact force to the drilling rod 45. The drilling device 40 drills a hole 301 in the peripheral wall of the tunnel T by rotating the drilling rod 45 with the rock drill 43 and advancing the rock drill 43 along the guide cell 41 with the propulsion device 44.

[0023] Bolt feeding device 20 mainly includes guide cell 21, thrust device 22, etc. Bolt feeding device 20 inserts rock bolt 303 into hole 301 by transmitting thrust from thrust device 22 to rock bolt 303. Filler injection device 30 mainly includes guide cell 31, thrust device 32, injection rod 34, etc. Filler injection device 30 inserts injection rod 34 into hole 301 drilled by hole drilling device 40, discharges filler 302 from the tip of injection rod 34, and then pulls injection rod 34 out of hole 301, thereby filling hole 301 with filler 302.

[0024] The detailed configurations of the bolt feeding device 20 and the filler injection device 30 will be described below with reference to Figure 2. In the following description, the direction in which the lock bolt 303 or the injection rod 34 is inserted into the hole 301 will be referred to as the "forward direction," and the direction in which the injection rod 34 is pulled out of the hole 301 will be referred to as the "rearward direction."

[0025] [Bolt feeding device, filler injection device] FIG. 2 is a schematic diagram showing the overall configuration of the bolt feeding device 20 and the filler injection device 30 according to this embodiment.

[0026] The bolt feeding device 20 includes a linear guide cell 21, a propulsion device 22 having a movable body 22A that can move along the guide cell 21, and a bolt support portion 25 (centralizer) provided at the tip side of the guide cell 21. The propulsion device 22 includes an actuator 23, and operation of the actuator 23 causes the movable body 22A to move forward or backward along the guide cell 21. The actuator 23 may be a fluid pressure cylinder operated by hydraulic or pneumatic pressure, or may be a hydraulic motor or an electric motor. The operation of the actuator 23 is controlled in response to an operation signal sent from the control device 100.

[0027] The movable body 22A is provided with a cylindrical bolt holding portion 22B that receives and supports the base end of the lock bolt 303. The rock bolt 303, whose base end is held by the bolt holding portion 22B, has its tip end supported by the bolt support portion 25, so that its axial direction XA is kept approximately parallel to the longitudinal direction of the guide cell 21. The bolt support portion 25 is provided with a first sensor unit 80, the details of which will be described later. A marking 28 is attached to the end face on the tip side of the guide cell 21, and is pressed against the tunnel inner wall surface when the rock bolt 303 is inserted.

[0028] The guide cell 21 is connected to the tip of the first boom 5 via a connecting mechanism 50. The connecting mechanism 50 includes a first swivel device 51, a second swivel device 52, and a tilting device 53. The first boom 5, the first swivel device 51, the second swivel device 52, and the tilting device 53 constitute the attitude adjustment mechanism of the present disclosure. In the present disclosure, attitude adjustment refers to adjusting the attitude of the bolt feeding device 20 by adjusting the longitudinal direction of the guide cell 21 (the angle relative to the horizontal or vertical direction).

[0029] The first swivel device 51 is provided at the tip of the first boom 5. The second swivel device 52 is connected to the first swivel device 51 via a connecting member 54. The second swivel device 52 is connected to the guide cell 21 via a tilting device 53. The tilting device 53 includes a first bracket 55 fixed to the second swivel device 82 and a second bracket 56 fixed to the guide cell 21. The first and second brackets 55, 56 are connected to each other via a support shaft 57 so as to be rotatable relative to each other.

[0030] The first swivel device 51, the second swivel device 52, and the tilting device 53 each include an actuator (not shown) that operates in response to an actuation signal sent from the control device 100. The actuator may be either hydraulic or electric. When the actuator of the first swivel device 51 is actuated, the bolt feeding device 20 rotates in the direction of arrow R1A in the figure about an axis that is aligned with the extension / retraction direction (longitudinal direction) of the first boom 5. When the actuator of the second swivel device 52 is actuated, the bolt feeding device 20 rotates in the direction of arrow R2A in the figure about an axis that is perpendicular to the extension / retraction direction of the first boom 5. When the actuator of the tilting device 53 is actuated, the bolt feeding device 20 tilts in the direction of arrow R3A in the figure about the support shaft 57 as its axis.

[0031] When inserting the lock bolt 303 into the hole 301 using the bolt feeding device 20, first, at least one of the first boom 5, the first swivel device 51, the second swivel device 52, and the tilting device 53 is operated to position the tip of the lock bolt 303 facing the opening of the hole 301 (facing operation). At this time, preferably, the marking 28 is brought into contact with the inner wall surface of the tunnel. Next, the actuator 23 is operated to move the movable body 22A forward along the guide cell 21, transmitting a propulsive force to the lock bolt 303, thereby inserting the lock bolt 303 into the hole 301 (insertion operation). The series of operations, including the facing operation and the insertion operation, may be realized by automatic control in which the CPU executes a program stored in the ROM of the control device 100, or may be realized by manual control in which an actuation signal is sent from the control device 100 in response to an operator's operation of the operation device 130.

[0032] The filler injection device 30 includes a linear guide cell 31, a propulsion device 32 having a moving body 32A that can move along the guide cell 31, a long, cylindrical injection rod 34, and a rod support portion 35 (centralizer) provided at the tip of the guide cell 31. The propulsion device 32 includes an actuator 33, and when the actuator 33 is activated, the moving body 32A moves forward or backward along the guide cell 31. The actuator 33 may be a fluid-pressure cylinder operated by hydraulic or pneumatic pressure, or may be a hydraulic motor or an electric motor. The operation of the actuator 33 is controlled in response to an actuation signal sent from the control device 100.

[0033] A joint 34A, to which filler is supplied from a filler supply source (not shown), is fixed to the movable body 32A. The base end of an injection rod 34 is connected to the joint 34A, so that the filler supplied to the joint 34A is sent into the injection rod 34. The tip of the injection rod 34 fixed to the joint 34A is supported by a rod support 35, so that the axial direction XB is kept substantially parallel to the longitudinal direction of the guide cell 31. A second sensor 90, described in detail below, is provided on the rod support 35. A marking 38 is attached to the tip end face of the guide cell 31. The marking 38 is pressed against the inner wall surface of the tunnel when the injection rod 34 is inserted.

[0034] The guide cell 31 is connected to the tip of the second boom 6 via a connecting mechanism 60. The connecting mechanism 60 includes a first swivel device 61, a second swivel device 62, and a tilting device 63. The second boom 6, the first swivel device 61, the second swivel device 62, and the tilting device 63 constitute the attitude adjustment mechanism of the present disclosure. In the present disclosure, attitude adjustment refers to adjusting the attitude of the filler injection device 30 by adjusting the longitudinal direction of the guide cell 31 (the angle relative to the horizontal or vertical direction).

[0035] The first swivel device 61 is provided at the tip of the second boom 6. The second swivel device 62 is connected to the first swivel device 61 via a connecting member 64. The second swivel device 62 is connected to the guide cell 31 via a tilting device 63. The tilting device 63 includes a first bracket 65 fixed to the second swivel device 62 and a second bracket 66 fixed to the guide cell 31. The first and second brackets 65, 66 are connected to each other via a support shaft 67 so as to be rotatable relative to each other.

[0036] The first swivel device 61, the second swivel device 62, and the tilting device 63 each include an actuator (not shown) that operates in response to an actuation signal sent from the control device 100. The actuator may be either hydraulic or electric. When the actuator of the first swivel device 61 is actuated, the filler injection device 30 rotates in the direction of arrow R1B in the figure about an axis along the extension / retraction direction (longitudinal direction) of the second boom 6. When the actuator of the second swivel device 62 is actuated, the filler injection device 30 rotates in the direction of arrow R2B in the figure about an axis perpendicular to the extension / retraction direction of the second boom 6. When the actuator of the tilting device 63 is actuated, the filler injection device 30 tilts in the direction of arrow R3B in the figure about the support shaft 67 as its axis.

[0037] When injecting filler into hole 301 using filler injection device 30, first, at least one of second boom 6, first swivel device 61, second swivel device 62, and tilt device 63 is activated to position the tip of injection rod 34 facing the opening of hole 301 (facing operation). At this time, preferably, marking 38 is brought into contact with the inner wall surface of the tunnel. Next, actuator 33 is activated to move movable body 32A forward along guide cell 31, transmitting a propulsive force to injection rod 34, thereby inserting injection rod 34 into hole 301 (insertion operation). Once the tip of injection rod 34 reaches the bottom of hole 301, actuator 33 is activated to move movable body 32A backward along guide cell 31 while discharging filler from the tip of injection rod 34, thereby withdrawing injection rod 34 from hole 301 (withdrawal operation). This series of operations, including the opposing operation, the inserting operation, and the withdrawing operation, may be realized by automatic control in which the CPU executes a program stored in the ROM of the control device 100, or may be realized by manual control in which an actuation signal is sent from the control device 100 in response to an operator's operation of the operating device 130.

[0038] Now consider the case where lock bolt 303 or injection rod 34 is inserted to the desired position in hole 301, specifically, until the tip of lock bolt 303 or injection rod 34 reaches the bottom of hole 301. To reliably insert the tip of lock bolt 303 or injection rod 34 all the way to the bottom of hole 301, the axial directions XA and XB of lock bolt 303 or injection rod 34 must be approximately aligned with the axial direction XH of hole 301 during the insertion operation. In addition, it is necessary that the interior of hole 301 is free of obstacles, such as pebbles, that would prevent lock bolt 303 or injection rod 34 from moving forward.

[0039] Because the opening of hole 301 can be seen from inside the tunnel, it is easy for an operator to manually adjust the position of bolt feeding device 20 and filler injection device 30 before starting the insertion operation so that the tips of rock bolt 303 and injection rod 34 face the opening of hole 301. Even in the case of automatic control, it is easy for control device 100 to recognize the opening position of hole 301 by image processing using a camera or the like, and to adjust the position of bolt feeding device 20 and filler injection device 30 so that the tips of rock bolt 303 and injection rod 34 face the opening of hole 301.

[0040] However, whether manual or automatic control is used, the axial direction XH of the hole 301 cannot be grasped from inside the tunnel, so it is difficult to adjust the posture of the bolt delivery device 20 and the filler injection device 30 so that the axial directions XA, XB of the rock bolt 303 and the injection rod 34 approximately coincide with the axial direction XH of the hole 301.

[0041] For this reason, when inserting rock bolt 303 or injection rod 34 into hole 301, it is conceivable to determine the axial direction XH of hole 301 and the internal conditions beforehand by inserting a camera or the like into hole 301 and taking measurements. However, even if the axial direction XH of hole 301 and the internal conditions can be determined by pre-measurement, it is difficult to reflect this information in the insertion operation. Furthermore, performing pre-measurement can also be a factor that leads to reduced work efficiency and productivity.

[0042] Therefore, in this embodiment, a first sensor unit 80 is provided in the bolt feeding device 20, and a second sensor unit 90 is provided in the filler injection device 30. When the lock bolt 303 or the injection rod 34 is inserted into the hole 301, the axial direction XH of the hole 301 and the internal conditions are monitored by the sensors 80, 90 in parallel with the insertion operation, and the monitored information is reflected in the insertion operation, thereby improving work efficiency and productivity. The first sensor unit 80 and the second sensor unit 90 are described in detail below.

[0043] [First sensor unit, second sensor unit] Figure 3(A) is a schematic cross-sectional view showing the bolt support portion 25 on which the first sensor portion 80 is provided, cut in the longitudinal direction of the guide cell 21, and Figure 3(B) is a schematic cross-sectional view showing the bolt support portion 25 on which the first sensor portion 80 is provided, cut in a direction perpendicular to the longitudinal direction of the guide cell 21.

[0044] The first sensor unit 80 is configured with a plurality of load cells, specifically four load cells 81A, 81B, 81C, and 81D. The load cells 81A, 81B, 81C, and 81D are arranged at equal intervals (90-degree intervals) in the circumferential direction on the inner periphery of the through-hole 25A through which the lock bolt 303 of the bolt support unit 25 is inserted.

[0045] Specifically, the load cell 81A is disposed on the guide cell 21 side with respect to the center C1 of the through hole 25A (see FIG. 3(B)). That is, as shown in the illustrated example, when the attitude of the bolt feeding device 20 is adjusted so that the lock bolt 303 is positioned vertically above the guide cell 21, the load cell 81A is positioned vertically below the center C1 of the through hole 25A. For this reason, in the following description, the load cell 81A will be referred to as the "lower load cell." The load cell 81B is disposed opposite the lower load cell 81A across the center C1 of the through hole 25A. For this reason, in the following description, the load cell 81B will be referred to as the "upper load cell."

[0046] Load cell 81C and load cell 81D are arranged opposite each other across hole center C1 (see FIG. 3(B)) on a line that passes through hole center C1 of through hole 25A and is perpendicular to the line connecting each load cell 81A and 81B. Specifically, when bolt support part 25 is viewed in the axial direction from the movable body 22A (see FIG. 2) side, load cell 81C is arranged on the right side and load cell 81D is arranged on the left side of hole center C1 of through hole 25A. For this reason, in the following description, load cell 81C will be referred to as the "right load cell" and load cell 81D will be referred to as the "left load cell."

[0047] The number of load cells provided in the first sensor unit 80 is not limited to four, and may be five or more (for example, eight). For ease of explanation, the lower load cell 81A, upper load cell 81B, right load cell 81C, and left load cell 81D may hereinafter be collectively referred to simply as "load cell 81."

[0048] Figure 4(A) is a schematic cross-sectional view showing the rod support portion 35 on which the second sensor portion 90 is provided, cut in the longitudinal direction of the guide cell 31, and Figure 4(B) is a schematic cross-sectional view showing the rod support portion 35 on which the second sensor portion 90 is provided, cut in a direction perpendicular to the longitudinal direction of the guide cell 31.

[0049] Similar to first sensor unit 80, second sensor unit 90 is also configured with a plurality of load cells, specifically four load cells 91A, 91B, 91C, and 91D. Load cells 91A, 91B, 91C, and 91D are arranged at equal intervals (90-degree intervals) in the circumferential direction around the inner periphery of through-hole 35A of rod support unit 35, through which injection rod 34 is inserted.

[0050] Specifically, load cell 91A is disposed on the guide cell 31 side with respect to the center C2 of through hole 35A (see FIG. 4(B)). That is, as shown in the illustrated example, when the attitude of filler injection device 30 is adjusted so that injection rod 34 is positioned vertically above guide cell 31, load cell 91A is positioned vertically below center C2 of through hole 35A. For this reason, in the following description, load cell 91A will be referred to as the "lower load cell." Load cell 91B is disposed opposite lower load cell 91A across center C2 of through hole 35A. For this reason, in the following description, load cell 91B will be referred to as the "upper load cell."

[0051] The load cell 91C and the load cell 91D are arranged opposite each other across the hole center C2 on a line that passes through the hole center C2 of the through hole 35A and is perpendicular to the line connecting the load cells 91A and 91B. Specifically, when the rod support part 35 is viewed in the axial direction from the movable body 32A (see FIG. 2) side, the load cell 91C is arranged on the right side and the load cell 91D is arranged on the left side of the hole center C2 of the through hole 35A. For this reason, in the following description, the load cell 91C will be referred to as the "right load cell" and the load cell 91D will be referred to as the "left load cell."

[0052] The number of load cells provided in the second sensor unit 90 is not limited to four, and may be five or more (for example, eight). For ease of explanation, the lower load cell 91A, upper load cell 91B, right load cell 91C, and left load cell 91D may hereinafter be collectively referred to simply as "load cell 91."

[0053] Each load cell 81, 91 is a small load cell that can be placed in the through-hole 25A, 35A, and for example, a compression type load cell can be used. The load cells 81, 91 are configured by accommodating a strain element (not shown) and a strain gauge attached to the strain element in a case 82, 92. The load cells 81, 91 are equipped with load buttons 83, 93 that protrude from the case 82, 92.

[0054] Load cell 81 is attached to bolt support portion 25 so that the pressure-receiving surface at the tip of load button 83 abuts against the outer peripheral surface of lock bolt 303. That is, lock bolt 303 is supported by load buttons 83 of load cells 81, which are arranged at equal intervals circumferentially, so that it can move axially and displace radially approximately at the center of through hole 25A. Load cell 91 is attached to rod support portion 35 so that the pressure-receiving surface at the tip of load button 93 abuts against the outer peripheral surface of injection rod 34. That is, injection rod 34 is supported by load buttons 93 of load cells 91, which are arranged at equal intervals circumferentially, so that it can move axially and displace radially approximately at the center of through hole 35A.

[0055] Each load button 83, 93 is connected to an elastically deformable flexure body, which is deformed when a force (load) is applied to the load button 83, 93. Each load cell 81, 91 outputs an electrical signal proportional to the amount of deformation of the flexure body to the control device 100 as the electrical resistance of the strain gauge changes in proportion to the amount of deformation of the flexure body.

[0056] [Control device] Referring again to FIG. 2, the control device 100 includes a processing unit such as a CPU, a storage unit such as a RAM or ROM, an input / output interface I / F, an auxiliary storage device, and the like, and is configured as an information processing device such as a personal computer or a server. The control device 100 realizes various functions by the CPU executing programs or routines stored in the ROM. For this purpose, the control device 100 is communicatively connected to a display device 120 such as a display and an operation device 130 operated by an operator. The control device 100 is also communicatively connected to a first sensor unit 80, a second sensor unit 90, actuators of the booms 5, 6, and 7, actuators of the swivel devices 51, 52, 61, and 62, actuators of the tilt devices 53 and 63, and actuators 23 and 33 of the propulsion devices 22 and 32.

[0057] The control device 100, display device 120, and operating device 130 may be provided in the driver's cab 4 of the work vehicle 1 (see FIG. 1 for all), or may be provided in a remote location such as a management office away from the tunnel construction site. When provided in a remote location, the control device 100 may be wirelessly connected to each of the sensor units 80, 90, the actuators of the booms 5, 6, 7, the actuators of the swivel devices 51, 52, 61, 62, the actuators of the tilt devices 53, 63, and the actuators 23, 33 of the propulsion devices 22, 32.

[0058] In this embodiment, when inserting lock bolt 303 or injection rod 34, control device 100 acquires the axial direction XH of hole 301 and the internal conditions based on electrical signals from sensors 80, 90, and reflects the acquired information in the insertion operation, thereby performing automatic insertion control to automatically insert lock bolt 303 or injection rod 34 into hole 301. Details of automatic insertion control are described below. Note that the processing procedure for automatic insertion control is similar for both inserting lock bolt 303 and inserting injection rod 34, so the following describes the insertion of lock bolt 303, and the description of the insertion of injection rod 34 is omitted.

[0059] [Automatic Insertion Control] When the tip of lock bolt 303 faces the opening of hole 301, control device 100 activates actuator 23 and transmits a propulsive force from movable body 22A to lock bolt 303, thereby starting automatic insertion control. The positioning control for bringing the tip of lock bolt 303 into opposition to the opening of hole 301 may be either automatic control by control device 100 or manual control by an operator. When automatic insertion control starts, control device 100 calculates in real time the load FC acting from rock bolt 303 on load cell 81 based on an electrical signal input from load cell 81.

[0060] Here, when calculating the load FC acting on the load cell 81, the calculated value of the load cell 81 located below the lock bolt 303 will be affected by the weight of the lock bolt 303. In the example shown in FIG. 2, the longitudinal direction of the guide cell 21 is oriented substantially horizontally, and the lock bolt 303 is located vertically above the guide cell 21. In this case, the lower load cell 81A will be affected by the weight of the lock bolt 303. When calculating the load FC, the control device 100 performs a correction process to remove the effect of the weight of the lock bolt 303.

[0061] Specifically, the ROM of the control device 100 stores a correction map M shown in FIG. 5, which was created in advance through experiments, simulations, and the like. In the correction map M, for example, the horizontal axis defines the tilt angle θ of the guide cell 21 with respect to the horizontal direction, and the vertical axis defines the weight W of the rock bolt 303 acting on the load cell 81. The weight W is maximized when the tilt angle θ is 0 degrees and minimized (e.g., 0) when the tilt angle θ is ±90 degrees. Here, a tilt angle θ of 90 degrees refers to a state in which the guide cell 21 is tilted +90 degrees with respect to the horizontal direction, and the tip of the rock bolt 303 is vertically above the base end. A tilt angle θ of −90 degrees refers to a state in which the guide cell 21 is tilted −90 degrees with respect to the horizontal direction, and the tip of the rock bolt 303 is vertically below the base end.

[0062] When starting automatic insertion control, the control device 100 refers to the correction map M based on the inclination angle θ of the guide cell 21 relative to the horizontal direction to read the weight W corresponding to the inclination angle θ, and subtracts the read weight W from the load FC calculated based on the electrical signal from the lower load cell 81A, thereby performing a correction process to remove the influence of the weight of the lock bolt 303. The inclination angle θ of the guide cell 21 relative to the horizontal direction may be calculated based on an actuation signal sent from the control device 100 to each actuator of the swivel devices 51 and 52 and the tilt device 53, or may be obtained directly by providing an inclination sensor (not shown) in the guide cell 21.

[0063] Depending on the rotation state of the first rotation device 51, the load cell 81 located below the lock bolt 303 may not be the lower load cell 81A. Specifically, as shown in Fig. 6(A), the right load cell 81C may be located below the lock bolt 303, or as shown in Fig. 6(B), the left load cell 81D may be located below the lock bolt 303.

[0064] When the right load cell 81C is located below the lock bolt 303, the control device 100 applies the above-described correction process to the load FC calculated based on the electrical signal of the right load cell 81C. When the left load cell 81D is located below the lock bolt 303, the control device 100 applies the above-described correction process to the load FC calculated based on the electrical signal of the left load cell 81D. Which of the load cells 81A, 81C, and 81D is located below the lock bolt 303 can be determined based on the actuation signal sent from the control device 100 to the actuator of the first swing device 51.

[0065] The control device 100 calculates in real time the load FC acting on the load cell 81 from the lock bolt 303 based on the electrical signal transmitted from the load cell 81 over the period from the start of the automatic insertion control until the tip of the lock bolt 303 reaches the bottom side of the hole 301. Furthermore, while the automatic insertion control is being executed, the control device 100 determines in real time the inclination of the axial direction XH of the hole 301 relative to the axial direction XA of the lock bolt 303 based on changes in the load FC acting on the load cell 81 (hereinafter, this determination will be referred to as "axial inclination determination"). Furthermore, while the automatic insertion control is being executed, the control device 100 determines in real time whether there is an obstacle S in the hole 301 that is obstructing the advancement of the lock bolt 303 based on changes in the load FC acting on the load cell 81 and changes in the thrust force FW of the actuator 23 (hereinafter, this determination will be referred to as "obstacle determination"). Furthermore, the control device 100 reflects the results of the axis tilt determination and / or the results of the obstacle determination in the insertion operation of the lock bolt 303, thereby ensuring that the lock bolt 303 is inserted to the bottom side of the hole 301. Specific processes for determining the axis tilt and the obstacle determination will be described below.

[0066] [Axis tilt determination] Fig. 7 is a schematic diagram illustrating the flow of processing for determining axial inclination based on the operation of the bolt feed-out device 20, and Fig. 8 is a timing chart illustrating the flow of processing for determining axial inclination. Note that the left side of Fig. 7 shows a side view of the bolt feed-out device 20, and the right side shows a front view of the bolt support part 25 as viewed from the axial direction. In the timing chart of Fig. 8, time t0 corresponds to the state of Fig. 7(A), time t1 corresponds to the state of Fig. 7(B), time t2 corresponds to the state of Fig. 7(C), and time t3 corresponds to the state of Fig. 7(D).

[0067] 7, the attitude of the bolt feeding device 20 is adjusted so that the longitudinal direction of the guide cell 21 is oriented substantially horizontally and the lower load cell 81A is positioned vertically below the lock bolt 303. Furthermore, although an electric motor can also be used for the actuator 23 of the propulsion device 22, the following explanation assumes that a fluid pressure cylinder operated by hydraulic or pneumatic pressure is used.

[0068] In the following, the axial direction XA of the lock bolt 303 is defined as the X-axis, the linear direction connecting the right load cell 81C and the left load cell 81D and intersecting the X-axis at right angles is defined as the Y-axis, and the linear direction connecting the lower load cell 81A and the upper load cell 81B and intersecting the X-axis and Y-axis at right angles is defined as the Z-axis. The forward movement direction of the lock bolt 303 is defined as the +X-axis. The Y-axis is defined as the +Y-axis on the right load cell 81C side relative to the axial direction XA, and the -Y-axis on the left load cell 81D side. The Z-axis is defined as the +Z-axis on the upper load cell 81B side relative to the axial direction XA, and the -Z-axis on the lower load cell 81D side.

[0069] 7(A), when the tip of lock bolt 303 is placed facing the opening of hole 301 and actuator 23 is operated, movable body 22A moves forward in the +X direction along guide cell 21, and a driving force FW (see FIG. 8) is transmitted from movable body 22A to lock bolt 303, causing the tip of lock bolt 303 to begin to insert into hole 301. At this time, the tip of lock bolt 303 is not in contact with the inner circumferential surface of hole 301, and therefore at time t0 shown in FIG. 8, none of load cells 81A to 81D detects load FC.

[0070] In the example shown in Figure 7, lock bolt 303 is inserted into hole 301, which has been drilled in a substantially horizontal direction, with its axial direction XA tilted obliquely upward with respect to the axial direction XH of hole 301. Therefore, as shown in Figure 7(B), when lock bolt 303 advances in the +X direction within hole 301, the tip side of lock bolt 303 comes into contact with the upper inner circumferential surface of hole 301 at an angle.

[0071] 7(C), the tip of the lock bolt 303 is gradually pushed down in the -Z direction (downward in the illustrated example) while sliding against the upper inner circumferential surface of the hole 301. That is, the lock bolt 303 supported by the bolt support portion 25 is displaced within the through hole 25A toward the lower load cell 81A, pressing the load button 83 of the lower load cell 81A, causing the lower load cell 81A to detect the load FC. In this case, the control device 100 determines that the axial direction XH of the hole 301 is inclined in the -Z direction (downward in the illustrated example) with respect to the axial direction XA of the lock bolt 303.

[0072] 8, when the tip of the lock bolt 303 comes into contact with the upper inner circumferential surface of the hole 301, the load FC detected by the lower load cell 81A gradually increases. Furthermore, if the actuator 23 is a fluid pressure cylinder operated by hydraulic or pneumatic pressure, the thrust force FC of the actuator 23 also begins to gradually increase due to the resistance force transmitted from the upper inner circumferential surface of the hole 301 via the lock bolt 303. The load FC, which began to increase at time t1, reaches a predetermined judgment threshold value FC at time t2. V When the angle reaches , the control device 100 determines that the axial direction XH of the hole 301 is inclined in the −Z direction (downward) with respect to the axial direction XA of the lock bolt 303.

[0073] If it is determined that the axial direction XH is inclined in the -Z direction with respect to the axial direction XA, the control device 100 controls the operation of the swivel devices 51, 52 and the tilting device 53 to adjust the attitude of the bolt feeding device 20 so that the axial direction XA of the lock bolt 303 substantially coincides with the axial direction XH of the hole 301, as shown in FIG. 7(D). Specifically, as shown at time t3 in FIG. 8, the control device 100 controls the operation of the swivel devices 51, 52 and the tilting device 53 so that none of the load cells 81A to 81D detects the load FC. After adjusting the attitude of the bolt feeding device 20, the control device 100 further advances the lock bolt 303 in the +X direction, and ends the automatic insertion control when the tip of the lock bolt 303 reaches the bottom side of the hole 301.

[0074] In this way, by determining the axial tilt in parallel with the insertion operation of the lock bolt 303 and appropriately adjusting the attitude of the bolt feeding device 20 based on the results of the axial tilt determination, it becomes possible to reliably insert the lock bolt 303 all the way to the bottom side of the hole 301 without deforming or damaging it. Furthermore, because there is no need to measure the axial direction XH of the hole 301 in advance, it is possible to reliably improve work efficiency and productivity.

[0075] 7 and 8, an example is shown in which the axial direction XH of the hole 301 is inclined in the -Z direction relative to the axial direction XA of the lock bolt 303, but it is of course possible to determine whether the hole 301 is inclined in another direction.

[0076] For example, as shown in Fig. 9, when only the upper load cell 81B of the load cells 81A to 81D detects the load FC, the control device 100 determines that the axial direction XH of the hole 301 is inclined in the +Z direction (upward if the guide cell 21 is oriented horizontally) with respect to the axial direction XA of the lock bolt 303. As shown in Fig. 10, when only the right load cell 81C of the load cells 81A to 81D detects the load FC, the control device 100 determines that the axial direction XH of the hole 301 is inclined in the +Y direction (to the right if the guide cell 21 is oriented horizontally) with respect to the axial direction XA of the lock bolt 303. As shown in Figure 11, if only the left load cell 81D of the load cells 81A to 81D detects a load FC, the control device 100 determines that the axial direction XH of the hole 301 is inclined in the -Y direction (to the left if the guide cell 21 is facing horizontally) relative to the axial direction XA of the lock bolt 303.

[0077] 12, when the lower load cell 81A and the right load cell 81C of the load cells 81A to 81D detect the load FC but the upper load cell 81B and the left load cell 81D do not detect the load FC, the control device 100 determines that the axial direction XH of the hole 301 is inclined in the +YZ direction (diagonally downward to the right if the guide cell 21 is oriented horizontally) with respect to the axial direction XA of the lock bolt 303. As shown in FIG. 13, when the lower load cell 81A and the left load cell 81D of the load cells 81A to 81D detect the load FC but the upper load cell 81B and the right load cell 81C do not detect the load FC, the control device 100 determines that the axial direction XH of the hole 301 is inclined in the -YZ direction (diagonally downward to the left if the guide cell 21 is oriented horizontally) with respect to the axial direction XA of the lock bolt 303.

[0078] 14, when the upper load cell 81B and the right load cell 81C of the load cells 81A to 81D detect the load FC but the lower load cell 81A and the left load cell 81D do not detect the load FC, the control device 100 determines that the axial direction XH of the hole 301 is inclined in the +Y+Z direction (diagonally upward to the right if the guide cell 21 is oriented horizontally) with respect to the axial direction XA of the lock bolt 303. As shown in FIG. 15, when the upper load cell 81B and the left load cell 81D of the load cells 81A to 81D detect the load FC but the lower load cell 81A and the right load cell 81C do not detect the load FC, the control device 100 determines that the axial direction XH of the hole 301 is inclined in the -Y+Z direction (diagonally downward to the left if the guide cell 21 is oriented horizontally) with respect to the axial direction XA of the lock bolt 303.

[0079] [Obstacle detection] Figure 16 is a schematic diagram illustrating the flow of the obstacle determination process based on the operation of the bolt feeder device 20, and Figure 17 is a timing chart illustrating the flow of the obstacle determination process. The left side of Figure 16 shows a side view of the bolt feeder device 20, and the right side shows a front view of the bolt support part 25 as seen from the axial direction. In the timing chart of Figure 17, time t0 corresponds to the state in Figure 16(A), time t1 corresponds to the state in Figure 16(B), and times t4 to t5 correspond to the state in Figure 16(C).

[0080] 16, obstacle S in hole 301 represents a small stone caused by a collapse or the like, but obstacle S also includes a portion where the hole diameter is significantly smaller than other portions due to insufficient drilling during drilling for some reason. Also, the axial direction XA of rock bolt 303 is assumed to be substantially aligned with the axial direction XH of hole 301. Furthermore, although an electric motor can be used as actuator 23 of propulsion device 22, the following explanation assumes that a fluid pressure cylinder operated by hydraulic or pneumatic pressure is used.

[0081] 16(A), when the tip of lock bolt 303 is placed facing the opening of hole 301 and actuator 23 is operated, movable body 22A moves forward along guide cell 21, and a thrust force FW is transmitted from movable body 22A to lock bolt 303, causing the tip side of lock bolt 303 to begin to insert into hole 301. At this time, because the tip of lock bolt 303 is not in contact with obstacle S in hole 301, the thrust force FW of actuator 23 does not change at time t0 shown in FIG. 8. Furthermore, none of load cells 81A to 81D is detecting load FC.

[0082] 16(B), when the tip of the lock bolt 303 abuts against the obstacle S, the forward movement of the lock bolt 303 is hindered. When the forward movement of the lock bolt 303 is hindered, the thrust FC of the actuator 23 begins to gradually increase due to the resistance force transmitted from the obstacle S via the lock bolt 303 and the movable body 22A. Specifically, the thrust FC, which was approximately constant over the period from time t0 to t1 in FIG. 17, begins to gradually increase from time t1.

[0083] The control device 100 determines whether the thrust force FC, which starts to increase from time t1, reaches a predetermined determination threshold value FW V If the load reaches the position indicated by the arrow FC and none of the load cells 81A to 81D detects the load FC, it is determined that there is an obstacle S in the hole 301 that is preventing the lock bolt 303 from advancing forward. At this time, the control device 100 preferably stores the feed-out amount L (see FIG. 16) of the lock bolt 303 at that time. The feed-out amount L may be obtained, for example, from the stroke amount of the actuator 23. By storing the feed-out amount L, it becomes easy to determine the position of the obstacle S in the hole 301, and this improves the efficiency of the work when removing the obstacle S from the hole 301 during the period (times t4 to t5) during which the automatic insertion control is interrupted, which will be described later.

[0084] If it is determined that there is an obstacle S in hole 301, control device 100 causes actuator 23 to move movable body 22A backward and pulls lock bolt 303 out of hole 301, thereby suspending the automatic insertion control. If obstacle S is removed from hole 301 during the suspension period from time t4 to t5, control device 100 resumes the automatic insertion control by reinserting lock bolt 303 into hole 301, as shown in Figure 16(D). When the tip of lock bolt 303 reaches the bottom side of hole 301, control device 100 terminates the automatic insertion control.

[0085] In this way, obstacle detection is performed in parallel with the insertion operation of the lock bolt 303, and if it is determined that an obstacle S is present in the hole 301, the automatic insertion control is interrupted, the obstacle S is removed, and then the automatic insertion control is resumed, thereby enabling the lock bolt 303 to be reliably inserted to the desired position in the hole 301 without deforming or damaging it.

[0086] Although the obstacle determination has been described as being made based on the thrust force FC of the actuator 23, it may also be made based on the stroke amount of the actuator 23. In this case, it may be determined that an obstacle S is present when the stroke amount does not change by more than a predetermined amount for a predetermined period of time. Furthermore, if the actuator 23 is an electric motor, it may be determined that an obstacle S is present when the feed amount of the lock bolt 303 is obtained by an encoder or the like, and when the feed amount does not change by more than a predetermined amount for a predetermined period of time.

[0087] Next, the automatic insertion control routine executed by the CPU of control device 100 will be described with reference to the flowchart in Figure 18. The automatic insertion control routine is similar whether inserting lock bolt 303 or injection rod 34, so the following description will use the insertion of lock bolt 303 as an example. This routine starts when the tip of lock bolt 303 faces the opening of hole 301.

[0088] In step S100, the control device 100 activates the actuator 23 to move the moving body 22A forward along the guide cell 21, thereby starting the operation of inserting the lock bolt 303 into the hole 301.

[0089] In step S110, the control device 100 determines whether the load cells 81A-81D have detected the load FC. If at least one of the load cells 81A-81D has detected the load FC (Yes), the control device 100 proceeds to step S120. On the other hand, if none of the load cells 81A-81D have detected the load FC (No), the control device 100 proceeds to step S200.

[0090] In step S120, the control device 100 determines whether the load FC detected by the load cell 81 has reached a predetermined determination threshold. If the load FC has reached the determination threshold (Yes), the control device 100 advances the process to step S130. On the other hand, if the load FC does not reach the determination threshold FC V If it has not reached (No), the control device 100 returns the process to step S110.

[0091] In step S130, the control device 100 performs an axial tilt determination to identify the direction in which the axial direction XH of the hole 301 is tilted with respect to the axial direction XA of the lock bolt 303. Next, in step S140, the control device 100 adjusts the attitude of the bolt feeding device 20 based on the determination result of step S130 so that the axial direction XA of the lock bolt 303 substantially coincides with the axial direction XH of the hole 301.

[0092] In step S150, it is determined whether or not all of the load cells 81A-81D are no longer detecting the load FC. If none of the load cells 81A-81D are detecting the load FC (Yes), the control device 100 proceeds to step S160. On the other hand, if at least one of the load cells 81A-81D is detecting the load FC (No), the control device 100 returns to step S140.

[0093] In step S160, the control device 100 continues to operate the actuator 23 to further advance the lock bolt 303. In step S170, the control device 100 determines whether the tip of the lock bolt 303 has reached the bottom side of the hole 301. If the actuator 23 is a fluid pressure cylinder, whether or not it has reached the bottom side can be determined based on the stroke amount of the piston. If the actuator 23 is an electric motor, whether or not it has reached the bottom side can be determined based on the feed amount of the lock bolt 303 obtained by an encoder. If the tip of the lock bolt 303 has reached the bottom side of the hole 301 (Yes), the control device 100 ends this routine. On the other hand, if the tip of the lock bolt 303 has not reached the bottom side of the hole 301 (No), the control device 100 returns the process to step S110.

[0094] When the process proceeds from step S110 to step S200, the control device 100 determines whether or not the thrust force FW of the actuator 23 has increased. If the thrust force FW of the actuator 23 has increased (Yes), the control device 100 proceeds to step S210. On the other hand, if the thrust force FW of the actuator 23 has not increased (No), that is, if the thrust force FW is approximately constant, the control device 100 proceeds to step S160.

[0095] In step S210, the control device 100 determines whether the thrust force FW of the actuator 23 has reached a predetermined determination threshold. If the thrust force FW has reached the determination threshold (Yes), the control device 100 advances the process to step S220. On the other hand, if the thrust force FW does not reach the determination threshold FW V If it has not reached (No), the control device 100 returns the process to step S200.

[0096] In step S220, the control device 100 performs an obstacle determination to determine that an obstacle S that prevents the insertion of the lock bolt 303 is present in the hole 301. Next, in step S230, the control device 100 causes the actuator 23 to move the propulsion device 22 backward, and pulls the lock bolt 303 out of the hole 301, thereby suspending the automatic insertion control and temporarily terminating this routine. If the obstacle S is removed from the hole 301 during the suspension of the automatic insertion control, the control device 100 resumes the automatic insertion control by restarting this routine from step S100.

[0097] According to the present embodiment described above, lock bolt 303 and injection rod 34 are supported in through holes 25A, 35A of supports 25, 35 provided at the distal ends of guide cells 21, 31 so as to be movable axially and displaceable radially. Multiple load cells 81, 91 are provided in through holes 25A, 35A to detect load FC in response to radial displacement of lock bolt 30 and injection rod 34. Load cells 81, 91 detect load FC during the insertion operation, thereby enabling the axial direction XH of hole 301 to be determined. Furthermore, based on changes in load FC detected by load cells 81, 91 and changes in thrust force FW of actuators 23, 33, it is possible to determine whether an obstacle S exists in hole 301 that is impeding the advancement of lock bolt 303 and injection rod 34.

[0098] This makes it possible to grasp the internal conditions of hole 301, such as axial direction XH of hole 301 and obstacles S, while performing the insertion operation without having to measure the inside of hole 301 in advance, and to reflect this information in the insertion operation, thereby reliably improving work efficiency and productivity.In addition, it becomes possible to reliably insert lock bolt 303 and injection rod 34 to the desired position in hole 301 without deforming or damaging them.

[0099] [others] The present disclosure is not limited to the above-described embodiments, and can be appropriately modified and implemented within the scope of the present disclosure.

[0100] For example, in the above embodiment, the attitude of the bolt feeding device 20 and the filler injection device 30 is described as being automatically adjusted by the control device 100 when the lock bolt 303 and the injection rod 34 are inserted, but the results of the axis tilt determination and obstacle determination may be displayed on the display device 120, and the adjustment may be performed manually by the operator operating the operation device 130 while checking the display device 120.

[0101] Furthermore, in the above embodiment, the bolt feeding device 20 and the filler injection device 30 are attached to the ends of the booms 5, 6 of the work vehicle 1, and the attitude and position adjustments are described as being performed mechanically, but the attitude and position adjustments of these bolt feeding device 20 and filler injection device 30 may also be performed manually by an operator. In this case, the operator can perform the insertion work while checking the results of the axis tilt determination and obstacle determination displayed on the display device 120.

[0102] In addition, in the above embodiment, the sensor units 80, 90 are described as using load cells 81, 91, but it is also possible to use an electrical resistance strain gauge, an optical fiber strain gauge, a laser displacement sensor, etc., as long as the sensor is capable of detecting radial displacement within the through holes 25A, 35A of the lock bolt 303 and the injection rod 34.

[0103] In addition, the technology disclosed herein can be widely applied to cases where rod-shaped members other than rock bolts 303 and injection rods 34 are inserted into holes, such as loading nozzles for loading explosives into explosive holes drilled in the face of a tunnel, and anchor bolts for driving into slopes, etc. [Explanation of symbols]

[0104] 1...work vehicle, 5...first boom, 6...second boom, 10...rock bolt installation device, 20...bolt feeding device, 21...guide cell, 22...propulsion device, 22A...moving member, 23...actuator, 25...bolt support portion, 25A...through hole, 30...filler injection device, 31...guide cell, 32...propulsion device, 32A...moving member, 33...actuator, 34...injection rod, 35...rod support portion, 35A ...through hole, 50...connecting mechanism, 51...first swivel device, 52...second swivel device, 53...tilting device, 60...connecting mechanism, 61...first swivel device, 62...second swivel device, 63...tilting device, 80...first sensor unit, 81...load cell, 90...second sensor unit, 91...load cell, 100...control device, 120...display device, 130...operating device, 300...support structure, 301...hole, 302...filler, 303...rock bolt

Claims

1. An insertion device for inserting a rod-shaped member into a hole, a guide member extending substantially parallel to the axial direction of the rod-shaped member; a propulsion device provided on the guide member so as to be movable along the longitudinal direction of the guide member, the propulsion device including a moving member supporting a base end of the rod-shaped member, and an actuator transmitting a propulsive force to the moving member; a support member provided on a tip side of the guide member, having a through hole through which the rod-shaped member is inserted, and supporting the rod-shaped member inserted into the through hole so as to be movable in an axial direction and displaceable in a radial direction; a sensor unit provided in the support member and capable of detecting displacement of the rod-shaped member in the through hole in the radial direction; a determination unit that determines whether the axis of the hole is inclined with respect to the axis of the rod-shaped member based on the radial displacement of the rod-shaped member detected by the sensor unit during an insertion operation in which a propulsive force is transmitted from the actuator to the moving member to insert the rod-shaped member into the hole, The sensor unit a plurality of load cells are arranged at a predetermined pitch in the circumferential direction on the inner periphery of the through hole, and detect a load in accordance with the displacement of the rod-shaped member in the radial direction, and are configured to function as a centralizer together with the support member; The determination unit a tilt direction of the axial direction of the hole with respect to the axial direction of the rod-shaped member is determined based on an arrangement direction of a load cell, among the plurality of load cells, that detects the load with respect to the rod-shaped member, The determination unit is further configured to calculate the weight of the rod-shaped member based on the inclination angle of the guide member with respect to the horizontal direction, and to perform a correction process to remove the influence of the weight of the rod-shaped member by subtracting the weight from the load detection value of a load cell, of the plurality of load cells, that is positioned vertically below the rod-shaped member. An insertion device characterized by:

2. The determination unit If the thrust of the actuator increases or the amount of feed of the rod-shaped member does not change during the insertion operation and the sensor unit does not detect any radial displacement of the rod-shaped member, it is determined that there is an obstacle in the hole that prevents the rod-shaped member from being inserted. The insertion device of claim 1 .

3. an attitude adjustment mechanism capable of adjusting the attitude of the guide member; a control unit that controls the operation of the actuator and the operation of the attitude adjustment mechanism, The control unit The actuator is operated to move the moving member along the guide member, thereby automatically inserting the rod-shaped member into the hole, and when the sensor unit detects a displacement of the rod-shaped member in the radial direction during the automatic insertion, the operation of the attitude adjustment mechanism is automatically controlled so that the sensor unit does not detect the displacement.

3. An insertion device according to claim 1 or 2.

4. The rod-shaped member is either a rock bolt inserted into a hole drilled in the tunnel wall, an injection rod for injecting a filler into a hole drilled in the tunnel wall, or a loading nozzle for loading an explosive into a charge hole drilled in the tunnel face. An insertion device according to any one of claims 1 to 3.

5. An insertion method for inserting the rod-shaped member into the hole using the insertion device according to claim 1, comprising: After the tip of the rod-shaped member is brought into opposition to the opening of the hole, the actuator is operated to move the moving member along the guide member, thereby starting an insertion operation for inserting the rod-shaped member into the hole, and if the sensor unit detects displacement of the rod-shaped member in the radial direction during the insertion operation, the attitude of the guide member is adjusted so that the sensor unit does not detect displacement, and the insertion operation is continued until the tip of the rod-shaped member reaches a desired position within the hole. An insertion method characterized by:

6. If the thrust force of the actuator increases or the amount of feed of the rod-shaped member does not change during the insertion operation and the sensor unit does not detect the radial displacement of the rod-shaped member, the actuator is operated in the reverse direction to pull the rod-shaped member out of the hole, thereby interrupting the insertion operation, and the insertion operation is resumed after removing the obstacle that is preventing the insertion of the rod-shaped member from the hole. The insertion method according to claim 5.

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