JP2021017767A - Drilling device for blasting - Google Patents

Abstract

To provide a drilling device for blasting capable of preventing damage to a drilling rod when positioning the drilling rod.SOLUTION: Among the positions on the extension line of a drilling line 16b, the initial position (starting position 16d) was set at a position closer to a drilling device for blasting 1 than the position intersecting a face surface 2a. Subsequently, the position of a tip of a drilling rod 6a and the posture of the drilling rod 6a were adjusted so that the position of the tip of the drilling rod 6a coincides with the set start position 16d, and at the same time, and the axis of the drilling rod 6a coincided with the extension line of the drilling line 16b. Then, after adjusting the position of the tip of the drilling rod 6a and the posture of the drilling rod 6a, the continuous impact of the drilling rod 6a is started to be applied to the rear end portion, the movement of the drilling rod 6a is started in the direction along the drilling line 16b, and the drilling of a blasting hole 3 in the face 2 is started.SELECTED DRAWING: Figure 4

Description

The present invention relates to a blasting drilling device.

Conventionally, the uneven shape of the face surface of the face to be excavated is measured, the position of the opening end of the blasting hole to be drilled is calculated based on the measurement result, and the tip of the drilling rod is set at the calculated position. A blasting perforation device has been proposed in which the perforation rod is positioned so as to come into contact with the perforation rod, and then the perforation rod starts striking the face (see, for example, Patent Document 1).

JP-A-2017-190642

However, in the perforation device for rupture described in Patent Document 1, for example, if the uneven shape of the face surface is erroneously measured and it is determined that the face surface exists on the back side of the actual state, when positioning the tip of the perforation rod, The tip of the perforation rod may collide with the face and damage the perforation rod.
The present invention has been made by paying attention to the above points, and an object of the present invention is to provide a blasting perforation device capable of preventing damage to the perforation rod when positioning the perforation rod.

In order to solve the above problems, one aspect of the present invention is (a) a perforation device for perforating a perforation device for perforating a perforation hole in the face by hitting with a perforation rod having a perforation bit at the tip (b). ) Measuring unit that measures the uneven shape of the face surface of the face, (c) Perforation line setting unit that sets the perforation line that is the axis of the rupture hole to be perforated, and (d) Perforation set by the perforation line setting unit. Of the positions on the extension line of the line, the initial position setting unit that sets the initial position of the tip of the drilling rod at a position away from the position that intersects the face surface of the face whose uneven shape was measured by the measuring unit, and (e) initial stage. Adjust the position of the tip of the drilling rod and the posture of the drilling rod so that the position of the tip of the drilling rod matches the initial position set in the position setting unit and the axis of the drilling rod matches the extension of the drilling line. After adjusting the position of the tip of the drilling rod and the posture of the drilling rod in the adjusting section and (f) adjusting section, the drifter is started to continuously hit the rear end of the drilling rod and drilled. The gist is that the perforation device is provided with a control unit for perforating a perforation hole in the face by causing a slide mechanism to move the perforation rod in a direction along a line.

According to one aspect of the present invention, since the initial position of the positioning destination of the perforation rod is set to a position away from the face surface, for example, even if the uneven shape of the face surface is erroneously measured, the perforation rod It is possible to provide a perforation device for rupture that can prevent the tip of the perforation rod from colliding with the face surface during positioning and prevent the perforation rod from being damaged.

It is a side view which shows the schematic structure of the blasting drilling apparatus which concerns on 1st Embodiment. It is a flowchart which shows the drilling process. It is a figure which shows the operation of the blasting punching apparatus, (a) is the side view which shows the setting method of the start position, (b) is the side view which shows the adjustment process of the position and posture of a drilling rod. It is a figure which shows the operation of the blasting punching apparatus, (a) is the side view which shows the start of the operation such as striking, and (b) is the side view which shows the start of the punching operation. It is a figure which shows the operation of the blasting punching apparatus, (a) is the side view which shows the setting method of the start position, (b) is the side view which shows the adjustment process of the position and posture of a drilling rod. It is a figure which shows the operation of the blasting punching apparatus, (a) is the side view which shows the start of the operation such as striking, and (b) is the side view which shows the start of the punching operation. It is a flowchart which shows the drilling process of 2nd Embodiment. It is a figure which shows the operation of the blasting drilling apparatus, (a) is the side view which shows the determination process of the need for correction of a drilling line, (b) is the side view which shows the correction process of a drilling line. It is a side view which shows the schematic structure of the blasting drilling apparatus which concerns on 3rd Embodiment. It is a flowchart which shows the drilling process. It is a figure which shows the operation of the blasting drilling apparatus, (a) is a side view which shows the method of re-correcting an opening end, (b) is a side view which shows the method of setting a start position. It is a figure which shows the operation of the blasting punching apparatus, (a) is the side view which shows the adjustment process of the position and posture of a drilling rod, (b) is the operation such as striking of a drilling rod, and the start of a moving operation. It is a side view which shows. It is a flowchart which shows the drilling process of 4th Embodiment. It is a figure which shows the operation of the blasting punching apparatus seen from the front side of a face surface, (a) is a front view which shows the correction method of an opening end, (b) is a front view which shows the correction method of a drilling line. (C) is a front view showing a method of setting the start position. It is a perspective view which shows the blasting drilling device and a tunnel. It is a figure which shows the opening end and the hole end of the outer peripheral hole, (a) is the front view which shows the opening end and the hole end seen from the front side of the face surface, and (b) is the view from the side surface side of the face surface. It is a side view which shows the opening end and the hole end.

The blasting drilling device according to the embodiment of the present invention will be described with reference to the drawings.
(First Embodiment)
(Constitution)
As shown in FIG. 1, the blasting drilling device 1 is a tunnel construction work vehicle for drilling a blasting hole 3 for loading explosives in the face 2. The rupture drilling device 1 is attached to the mobile carriage 4, the support member 5 attached to the mobile carriage 4 and provided with a plurality of joints including a rotary joint and a linear motion joint, and the support member 5, and the drilling rod 6a and the like. It includes a drilling machine 6 having a drifter 6b and the like, a joint drive device 7 for driving each joint (rotary joint, linear motion joint) of the support member 5, and a drifter drive device 8. The support member 5 includes a boom 9 attached to the mobile carriage 4 and a guide shell 10 attached to the boom 9 on which the drilling machine 6 is mounted.

The boom 9 has a rotary joint whose rotation axis extends along the vertical direction (Z direction in FIG. 1) and a rotation whose rotation axis extends along the left-right direction (X direction in FIG. 1) of the moving carriage 4. A joint, a linear motion joint having a linear motion axis extending along the longitudinal direction of the boom 9 (Y direction in FIG. 1), and the like are formed.
The guide shell 10 is attached to a guide mounting 11 arranged at the tip of the boom 9. At the connecting portion between the guide mounting 11 and the guide shell 10, a linear motion joint that expands and contracts along a linear motion axis extending in the axial direction of the perforation rod 6a is formed.

The drilling machine 6 includes a drilling rod 6a having a drilling bit at the tip thereof, and a drifter 6b that gives a striking, rotating, forward / backward movement, and the like to the rear end portion of the drilling rod 6a. Then, the blasting hole 3 can be drilled in the face 2 by hitting the rear end portion of the drilling rod 6a with the drifter 6b. A linear motion joint that expands and contracts along a linear motion axis extending in the axial direction of the drilling rod 6a is formed at the connecting portion between the drifter 6b and the guide shell 10. The perforation rod 6a can move back and forth in the axial direction of the perforation rod 6a by expanding and contracting the linear motion joint of the connecting portion between the drifter 6b and the guide shell 10 to move the drifter 6b back and forth.

The joint drive device 7 drives (rotates, expands and contracts) the joints (rotating joints, rectilinear joints) of the rupture drilling device 1 in accordance with a command from the controller 14 described later. As the joint drive device 7, for example, a hydraulic control device capable of driving each joint can be adopted by controlling the supply of hydraulic pressure to a hydraulic drive device (not shown) such as a hydraulic cylinder provided in each joint. As a result, the blasting perforation device 1 can rotate and expand and contract the joints in response to a command from the controller 14, and can change the position of the tip of the perforation rod 6a and the posture of the perforation rod 6a.

The drifter driving device 8 drives the dripper 6b (striking, rotating, back-and-forth movement, etc.) according to a command from the controller 14. As the drifter drive device 8, for example, a hydraulic control device capable of driving the drifter 6b can be adopted by controlling the supply of hydraulic pressure to a hydraulic drive device (not shown) such as a hydraulic cylinder provided on the drifter 6b. As a result, the blasting drilling device 1 can execute a blow to the rear end of the drilling rod 6a, a rotation of the drilling rod 6a, a front-back movement of the drilling rod 6a, and the like in response to a command from the controller 14. ing.

Further, the blasting drilling device 1 includes a measuring unit 12, a storage unit 13, and a controller 14.
The measuring unit 12 measures the uneven shape of the surface of the face 2 (hereinafter, also referred to as “face surface 2a”) and the uneven shape of the tunnel inner peripheral surface 2b. The measurement result is used for arithmetic processing performed by the controller 14 and is stored in the storage unit 13. As the measuring unit 12, for example, a three-dimensional laser scanner can be adopted. As the installation position of the measuring unit 12, for example, the front surface of the vehicle body of the blasting drilling device 1, the ceiling of the vehicle body of the blasting drilling device 1, and the floor surface of the tunnel can be adopted. FIG. 1 shows an example in which the measuring unit 12 is installed on the front surface of the vehicle body of the blasting drilling device 1.

The storage unit 13 stores the perforation pattern for the face 2 and various programs. As the drilling pattern, for example, a pattern including the position of the opening end of the blasting hole 3 in which the face 2 is planned to be drilled, the position of the hole tail, the inclination angle, and the drilling length can be adopted. In addition, the storage unit 13 stores various data when the program is executed. As the storage unit 13, for example, a RAM (Random Access Memory), an HDD (Hard Disc Drive), or an SSD (Solid State Disk) can be adopted.

The controller 14 includes an integrated circuit composed of an electric signal input / output circuit such as an A / D (Analog to Digital) conversion circuit and a D / A (Digital to Analog) conversion circuit, an arithmetic processor, and a telecommunication circuit. According to the program stored in the storage unit 13, the arithmetic processor has a measurement result acquisition unit 14a, a target face surface setting unit 14b, a hole tail position setting unit 14c, an inclination angle setting unit 14d, a perforation line setting unit 14e, and an opening end. A position setting unit 14f, an opening end position correction unit 14g, an initial position setting unit 14h, an adjustment unit 14i, a control unit 14j, and a perforation line correction unit 14k are realized, and these 14a to 14k realize a rupture hole for the face 2. A drilling process for drilling 3 is performed.

(Punching process)
Next, the controller 14 (measurement result acquisition unit 14a, target face surface setting unit 14b, hole tail position setting unit 14c, inclination angle setting unit 14d, perforation line setting unit 14e, opening end position setting unit 14f, opening end position correction unit) The drilling process executed by 14 g, the initial position setting unit 14h, the adjusting unit 14i, the control unit 14j, and the drilling line correction unit 14k) will be described. The drilling process is executed when the operator of the blasting drilling device 1 inputs an instruction to start drilling the blasting hole 3 to the face surface 2a.
As shown in FIG. 2, first, in step S101, the measurement result acquisition unit 14a causes the measurement unit 12 to measure the uneven shape of the face surface 2a as shown in FIG. 3A, and the measurement result is measured from the measurement unit 12. (Concave and convex shape of face surface 2a) is acquired.

Subsequently, in step S102, the target face surface setting unit 14b sets the target face surface 15 in which the position to be reached after the blasting is set in advance, as shown in FIG. 3A.
Subsequently, in step S103, the hole tail position setting unit 14c reads out one data of the rupture hole to be drilled (planned drilling hole 16) from the drilling pattern stored in the storage unit 13, and FIG. As shown in (a), the position of the hole end 16a of the hole 16 to be drilled included in the read data is set on the target face surface 15 set in step S102. The hole end 16a is the end point (bottom end) of the hole 16 (blasting hole) to be drilled.

Subsequently, in step S104, the inclination angle setting unit 14d acquires the inclination angle (inclination angle of the drilling line 16b) of the hole 16 to be drilled included in the data read in step S103.
Subsequently, in step S105, the perforation line setting unit 14e sets the perforation line 16b, which is the axis of the planned perforation hole 16, as shown in FIG. 3A. As an example of the method of setting the perforation line 16b, a method of passing through the position of the hole end 16a set in step S103 and forming a straight line extending while maintaining the inclination angle set in step S104 is used as the perforation line 16b. Can be done. Subsequently, the position where the perforation line 16b and the face surface 2a intersect based on the uneven shape of the perforation line 16b set by the perforation line setting unit 14e and the face surface 2a acquired in step S101 by the opening end position setting unit 14f. The position of the opening end 16c of the hole 16 to be drilled is set in 1.

Subsequently, in step S106, the opening end position correction portion 14g has the uneven shape of the face surface 2a acquired in step S101 (the uneven shape at the position of the opening end 16c), and the perforation line 16b and perforation set in step S105. Based on the position of the opening end 16c of the planned hole 16, it is determined whether or not the position of the opening end 16c needs to be corrected. For example, when the narrow angle between the face surface 2a at the position of the opening end 16c and the perforation line 16b is less than a predetermined value (for example, 60 °), it is determined that the position of the opening end 16c needs to be corrected. To do. Then, when it is determined that the position of the opening end 16c does not need to be corrected (No), the process proceeds to step S107. On the other hand, if it is determined that the position of the opening end 16c needs to be corrected (Yes), the process proceeds to step S111. If the position of the opening end 16c and the perforation line 16b have been corrected in steps S111 and S112, the correction perforation line 16f obtained in step S112 is used instead of the perforation line 16b set in step S105, and in step S105. Instead of the set position of the opening end 16c of the planned drilling hole 16, the position of the corrected opening end 16e obtained in step S111 is used.

In step S107, the initial position setting unit 14h is on the extension line of the perforation line 16b as shown in FIG. 3A based on the uneven shape of the face surface 2a acquired in step S101 and the perforation line 16b set in step S105. Initial position for positioning the tip of the drilling rod 6a at a position closer to the blasting drilling device 1 than the position of the opening end 16c of the planned drilling hole 16 set in step S105 (hereinafter, “starting position 16d””. Also called). As the position on the blasting drilling device 1 side with respect to the position of the opening end 16c of the hole 16 to be drilled, for example, a position separated from the face surface 2a by a predetermined distance (50 cm or the like) can be adopted. When the position of the opening end 16c is corrected in step S111, the position of the corrected opening end 16e obtained in step S111 is used instead of the position of the opening end 16c of the planned drilling hole 16 set in step S105.

Subsequently, in step S108, the adjusting unit 14i transmits a joint drive command to the joint drive device 7 so that the position of the tip of the drilling rod 6a coincides with the start position 16d set in step S107. As a result, the joint driving device 7 drives the joint, and as shown in FIG. 3B, the position of the tip of the drilling rod 6a is located at the starting position 16d, that is, at a position separated from the face surface 2a by a predetermined distance (50 cm, etc.). The position of the tip of the drilling rod 6a is adjusted so that they match.
Subsequently, the joint drive device is such that the adjusting unit 14i maintains the position of the tip of the drilling rod 6a at the start position 16d and aligns the axis of the drilling rod 6a with the extension line of the drilling line 16b set in step S105. A joint drive command is transmitted to 7. As a result, the joint driving device 7 drives the joint so that the position of the tip of the drilling rod 6a does not change as shown in FIG. 3B, and the axis of the drilling rod 6a coincides with the extension line of the drilling line 16b. In addition, the posture of the drilling rod 6a is adjusted. When the perforation line 16b is modified in step S112, the modified perforation line 16f obtained in step S112 is used instead of the perforation line 16b set in step S105.

Subsequently, in step S109, after the adjusting unit 14i finishes adjusting the position of the tip of the drilling rod 6a and the posture of the drilling rod 6a, the control unit 14j continuously connects to the rear end of the drilling rod 6a. A drive command is transmitted to the drifter drive device 8 so that the impact is given. As a result, the drifter driving device 8 drives the drifter 6b (striking operation or the like) to start applying continuous striking or the like to the rear end portion of the drilling rod 6a as shown in FIG. 4A.
Subsequently, the control unit 14j transmits a drive command to the drifter drive device 8 so that the movement of the drill rod 6a in the direction along the drill line 16b set in step S105 is started. As a result, the drifter driving device 8 drives the joint to start the movement of the drilling rod 6a in the direction along the drilling line 16b, so that the tip of the drilling rod 6a is moved. It is pressed against the face surface 2a to advance the drilling of the blasting hole 3 in the face 2. When the perforation line 16b is modified in step S112, the modified perforation line 16f obtained in step S112 is used instead of the perforation line 16b set in step S105.

Subsequently, the process proceeds to step S110, and the control unit 14j is put into a standby state until the tip of the drilling rod 6a reaches the hole end 16a. When it is determined that the tip of the drilling rod 6a reaches the hole end 16a and the drilling of the blasting hole 3 is completed, a stop command is transmitted to the drifter drive device 8 and then the process returns to step S103. As a result, the drifter driving device 8 stops the driving of the drifter 6b (striking operation, etc.) and the driving of the joint, and the perforation of the blasting hole 3 in the face 2 is stopped.

On the other hand, in step S111, the opening end position correcting portion 14g corrects the position of the opening end 16c set in step S105 based on the uneven shape of the face surface 2a acquired in step S101 (the uneven shape at the position of the opening end 16c). To do. For example, from any points on the face surface 2a near the position of the opening end 16c set in step S105, a straight line passing through one point and the hole end 16a and a normal at the one point are formed. Find one point that satisfies the condition that the narrow angle is less than a predetermined value (30 °, etc.), and as shown in FIG. 5 (a), the found point (position) is the corrected opening. It is the position of the end (hereinafter, also referred to as “corrected opening end 16e”). If the position of the opening end 16c is corrected (obtaining the position of the corrected opening end 16e) for the second time or more in step S111, the position of the opening end 16c of the planned drilling hole 16 set in step S105 is set. Instead, the position of the corrected opening end 16e obtained in step S111 is used.

Subsequently, in step S112, the perforation line correction portion 14k has the position of the hole tail 16a set in step S103 and the position of the correction opening end 16e obtained in step S111, as shown in FIG. 5A. After the straight line passing through the above is defined as the modified perforation line (hereinafter, also referred to as “correction perforation line 16f”), the process returns to step S106.

As described above, in the blasting perforation device 1 according to the first embodiment of the present invention, among the positions on the extension line of the perforation line 16b, the position on the blasting perforation device 1 side is closer to the position intersecting the face surface 2a. The initial position (start position 16d) is set as the position. Subsequently, the position of the tip of the drilling rod 6a and the position of the tip of the drilling rod 6a so that the position of the tip of the drilling rod 6a coincides with the set start position 16d and the axis of the drilling rod 6a coincides with the extension line of the drilling line 16b. I tried to adjust the posture of. Then, after adjusting the position of the tip of the drilling rod 6a and the posture of the drilling rod 6a, continuous impact is applied to the rear end of the drilling rod 6a, and the direction along the drilling line 16b is started. The movement of the perforation rod 6a was started, and the tip of the perforation rod 6a was pressed against the face surface 2a to start perforation of the rupture hole 3 in the face 2. In this way, the start position 16d, which is the positioning destination of the perforation rod 6a, is set to a position away from the face surface 2a. Therefore, for example, even if the uneven shape of the face surface 2a is erroneously measured, the perforation rod 6a It is possible to provide a rupture drilling device 1 capable of preventing the tip of the drilling rod 6a from colliding with the face surface 2a at the time of positioning and preventing the drilling rod 6a from being damaged. Damage to the drilling rod 6a includes damage to the drilling rod 6a itself and wear of the tip.

Further, in the blasting drilling device 1 according to the first embodiment of the present invention, the position of the hole tail 16a of the blasting hole (scheduled drilling hole 16) to be drilled is set and set on the target face surface 15. The straight line that passes through the position of the hole end 16a and extends while maintaining a predetermined inclination angle is defined as the perforation line 16b. As a result, the perforation line 16b can be appropriately set, and an appropriate blasting hole 3 can be formed.

Further, in the blasting punching device 1 according to the first embodiment of the present invention, for blasting scheduled to be drilled at a position where the drilling line 16b and the face surface 2a intersect, based on the uneven shape of the drilling line 16b and the face surface 2a. The position of the opening end 16c of the hole (the hole 16 to be drilled) was set. Subsequently, based on the uneven shape measured by the measuring unit 12 at the set position of the opening end 16c, it is determined whether or not the position of the opening end needs to be corrected, and if it is determined that the correction is necessary, the opening end 16c is determined. Corrected the position of. Subsequently, a straight line passing through the set position of the hole tail 16a and the position of the modified opening end (modified opening end 16e) was defined as a modified drilling line (modified drilling line 16f). In this way, since the perforation line 16b is corrected in consideration of the uneven shape of the face surface 2a and the position of the hole tail 16a, it is possible to prevent the tip of the perforation rod 6a from slipping due to the unevenness of the face surface 2a, and the perforation rod 6a It is possible to prevent the tip end from deviating from the modified opening end 16e, prevent the traveling direction of the perforation rod 6a from deviating from the modified perforation line 16f, and prevent the end point position of the perforation from deviating from the planned position of the hole end 16a.

By the way, for example, in the method of not modifying the perforation line 16b in consideration of the uneven shape of the face surface 2a and the position of the hole tail 16a, the tip of the perforation rod 6a slips due to the unevenness of the face surface 2a, and the tip of the perforation rod 6a May deviate from the opening end 16c of the hole 16 to be drilled, the traveling direction of the drilling rod 6a deviates from the drilling line 16b, and the end point position of the drilling may deviate from the planned position of the hole tail 16a. If the end point position of the drilling and the planned position of the hole end 16a deviate from each other, the tunnel shape may not be drilled as planned. For example, if the tunnel shape obtained by excavation is smaller than the planned one, extra digging work or the like is required so that the tunnel shape is as planned, and the man-hours increase and the cost increases. Further, for example, when the tunnel shape obtained by excavation is larger than the planned one, it is necessary to add concrete so that the tunnel shape is as planned, and the amount of concrete input increases and the cost increases. It ends up.

(Second Embodiment)
Next, the blasting drilling device according to the second embodiment of the present invention will be described. Since the overall configuration of the blasting drilling device of the second embodiment is the same as that of FIG. 1, the illustration is omitted. FIG. 7 is a flowchart showing the drilling process of the second embodiment. 8 (a) and 8 (b) are drawings showing the operation of the blasting drilling device 1 of the second embodiment. 7, FIG. 8 (a) and FIG. 8 (b), FIGS. 2, 3 (a), 3 (b), 4 (a), 4 (b), 5 (a), 5 The parts corresponding to (b), FIG. 6 (a) and FIG. 6 (b) are designated by the same reference numerals, and duplicate description will be omitted.

In the blasting punching device 1 of the second embodiment, a method of determining whether or not the position of the opening end 16c of the planned drilling hole 16 needs to be corrected and a method of correcting the position of the opening end 16c are used for blasting of the first embodiment. It is different from the drilling device 1. In the second embodiment, as the drilling process, as shown in FIG. 7, steps S201, S202 and S203 are provided instead of steps S101, S106 and S111 of FIG. 2 based on the drilling process of FIG. A perforation process is used.
In step S201, as shown in FIG. 8A, the measurement result acquisition unit 14a causes the measurement unit 12 to measure the uneven shape of the face surface 2a and the uneven shape of the tunnel inner peripheral surface 2b, and the measurement result is measured from the measurement unit 12. (The uneven shape of the face surface 2a and the uneven shape of the tunnel inner peripheral surface 2b) are acquired. In FIG. 8A, a support 17 is provided in the vicinity of the face surface 2a of the inner peripheral surface 2b of the tunnel.

In step S202, is it necessary for the opening end position correcting portion 14g to correct the position of the opening end 16c based on the uneven shape of the tunnel inner peripheral surface 2b acquired in step S201 and the perforation line 16b set in step S105? Judge whether or not. For example, as shown in FIG. 8A, when the extension line 18 of the drilling line 16b comes into contact with the tunnel inner peripheral surface 2b, the blasting punching device 1 (guide shell 10 or the like) contacts the tunnel inner peripheral surface 2b. Then, it is determined that the position of the opening end 16c needs to be corrected. FIG. 8A shows, as an example, a case where it is determined whether or not the blasting drilling device 1 (guide shell 10 or the like) contacts the support work 17 as the inner peripheral surface 2b of the tunnel. Then, when the opening end position correction unit 14g determines that it is not necessary to correct the position of the opening end 16c (No), the process proceeds to step S107. On the other hand, if it is determined that the position of the opening end 16c needs to be corrected (Yes), the process proceeds to step S203. When the perforation line 16b is modified in step S112, the modified perforation line 16f obtained in step S112 is used instead of the perforation line 16b set in step S105.

In step S203, the opening end position correcting portion 14g corrects the position of the opening end 16c set in step S105 based on the uneven shape of the tunnel inner peripheral surface 2b acquired in step S201. For example, it is said that the tunnel inner peripheral surface 2b does not come into contact with the straight line 19 passing through one point and the hole end 16a from any points on the face surface 2a near the position of the opening end 16c set in step S105. One point satisfying the condition is searched for, and as shown in FIG. 8B, the found point (position) is set as the position of the corrected opening end (corrected opening end 16e). If the position of the opening end 16c is corrected (obtaining the position of the corrected opening end 16e) for the second time or more in step S203, the position of the opening end 16c of the planned drilling hole 16 set in step S105 is set. Instead, the position of the corrected opening end 16e obtained in step S111 is used.

With the above configuration, in the blasting drilling device 1 according to the second embodiment of the present invention, it is necessary to correct the position of the set opening end 16c based on the measured uneven shape of the tunnel inner peripheral surface 2b. If it is determined whether or not it is necessary to correct it, the position of the opening end 16c is corrected based on the uneven shape. Subsequently, a straight line passing through the set position of the hole tail 16a and the position of the modified opening end (corrected opening end 16e) is defined as a modified drilling line (corrected drilling line 16f). In this way, in order to correct the perforation line 16b in consideration of the uneven shape of the tunnel inner peripheral surface 2b and the position of the hole tail 16a, the structure of the tunnel inner peripheral surface 2b such as a support work and the tunnel inner peripheral surface 2b It is possible to prevent the unevenness of the ground surface from coming into contact with the blasting drilling device 1 (guide shell 10 or the like), and prevent the end point position of the drilling from deviating from the planned position of the hole tail 16a.

Incidentally, for example, in a method in which the drilling line 16b is not modified in consideration of the uneven shape of the tunnel inner peripheral surface 2b and the position of the hole tail 16a, the structure of the tunnel inner peripheral surface 2b comes into contact with the blasting drilling device 1. there is a possibility. Further, in the method of modifying the drilling line 16b in consideration of only the uneven shape of the tunnel inner peripheral surface 2b, it is possible to prevent the blasting punching device 1 from coming into contact with the structure or the like of the tunnel inner peripheral surface 2b, but the end point of the drilling. The position may deviate from the planned position of the hole end 16a.

(Third Embodiment)
Next, the blasting drilling device according to the third embodiment of the present invention will be described. FIG. 9 is a diagram showing the overall configuration of the blasting drilling device of the third embodiment. Further, FIG. 10 is a flowchart showing the drilling process of the third embodiment. 11 (a), 11 (b), 12 (a) and 12 (b) are drawings showing the operation of the blasting drilling device 1 according to the third embodiment. 9, FIG. 10, FIG. 11 (a), FIG. 11 (b), FIG. 12 (a) and FIG. 12 (b), FIGS. 1, 2, 3 (a), 3 (b), FIG. The parts corresponding to 4 (a), 4 (b), 5 (a), 5 (b), 6 (a), and 6 (b) are designated by the same reference numerals and duplicate explanations are omitted. To do.

In the blasting drilling device 1 of the third embodiment, the arithmetic processor of the controller 14 has a measurement result acquisition unit 14a, a target face surface setting unit 14b, a hole tail position setting unit 14c, and an inclination angle according to the program of the storage unit 13. In addition to the setting unit 14d, the perforation line setting unit 14e, the opening end position setting unit 14f, the opening end position correction unit 14g, the initial position setting unit 14h, the adjustment unit 14i, the control unit 14j and the perforation line correction unit 14k, the opening end re-correction A portion 14l and a perforation line re-correction portion 14m are realized.
In the blasting punching device 1 of the third embodiment, a method of determining whether or not the position of the opening end 16c of the planned drilling hole 16 needs to be corrected and a method of correcting the position of the opening end 16c are used for blasting of the first embodiment. The drilling device 1 and the blasting drilling device 1 of the second embodiment are combined. In the third embodiment, as the drilling process, as shown in FIG. 10, steps S301 and S302 are provided instead of steps S101 and S106 of FIG. 2 based on the drilling process of FIG. 2, and steps S112 and S302 are provided. S303 is provided between the two, and when the determination in step S303 is "Yes", the drilling process in which steps S304 and S305 are provided at the transition destination is used.

In step S301, as shown in FIG. 11A, the measurement result acquisition unit 14a causes the measurement unit 12 to measure the uneven shape of the face surface 2a and the uneven shape of the tunnel inner peripheral surface 2b, and the measurement result is measured from the measurement unit 12. (The uneven shape of the face surface 2a and the uneven shape of the tunnel inner peripheral surface 2b) are acquired.

Subsequently, in step S302, the opening end position correction portion 14g has the uneven shape of the face surface 2a acquired in step S301 (the uneven shape at the position of the opening end 16c), and the perforation line 16b and perforation set in step S105. Based on the position of the opening end 16c of the planned hole 16, it is determined whether or not the position of the opening end 16c needs to be corrected. For example, when the narrow angle between the face surface 2a at the position of the opening end 16c and the perforation line 16b is less than a predetermined value (for example, 60 °), it is determined that the position of the opening end 16c needs to be corrected. To do. Then, when it is determined that the position of the opening end 16c does not need to be corrected (No), the process proceeds to step S107. On the other hand, if it is determined that the position of the opening end 16c needs to be corrected (Yes), the process proceeds to step S111. If the position of the opening end 16c and the perforation line 16b have been corrected in steps S111, S112, S304, and S305, the correction perforation line 16f or the step obtained in step S112 is replaced with the perforation line 16b set in step S105. Using a newer one of the re-correction drilling lines 16h obtained in S305, the position of the correction opening end 16e obtained in step S111 or the position of the correction opening end 16e obtained in step S111 instead of the position of the opening end 16c of the planned drilling hole 16 set in step S105 or step S304 The newer one of the re-corrected opening ends 16 g obtained in the above is used.

In step S303, the opening end position correction portion 14g needs to re-correct the position of the correction opening end 16e based on the uneven shape of the tunnel inner peripheral surface 2b acquired in step S301 and the correction drilling line 16f set in step S112. It is determined whether or not it is. For example, when the distance between the extension line of the modified drilling line 16f and the tunnel inner peripheral surface 2b is less than or equal to a predetermined value (for example, 50 cm), the blasting drilling device 1 (guide shell 10, etc.) is formed on the tunnel inner peripheral surface 2b. ) Is in contact with each other, and it is determined that the position of the correction opening end 16e needs to be re-corrected. Then, when it is determined that the position of the correction opening end 16e does not need to be re-corrected (No), the process returns to step S302. On the other hand, if it is determined that the position of the correction opening end 16e needs to be re-corrected (Yes), the process proceeds to step S304.

In step S304, the opening end re-correction unit 14l re-corrects the position of the opening end (corrected opening end 16e) corrected in step S111 based on the uneven shape of the face surface 2a acquired in step S301. For example, from among arbitrary points on the face surface 2a near the position of the corrected opening end 16e obtained in step S111, a straight line 20 passing through one point and the hole end 16a and the face surface 2a at the one point. Find one point that satisfies the condition that the narrow angle of the angle between the two is equal to or greater than a predetermined value (for example, 60 °), and as shown in FIG. 11A, the found point (position) Is the position of the opening end after re-correction (hereinafter, also referred to as “re-correction opening end 16g”).
Subsequently, in step S305, as shown in FIG. 11B, the perforation line re-correction portion 14m has the position of the hole tail 16a set in step S103 and the re-correction opening end 16 g obtained in step S304. After the straight line passing through the position is defined as the re-corrected perforation line (hereinafter, also referred to as “re-correction perforation line 16h”), the process returns to step S302.

With the above configuration, in the blasting drilling device 1 according to the third embodiment of the present invention, it is necessary to correct the position of the set opening end 16c based on the measured uneven shape of the face surface 2a of the face 2. If it is determined whether or not it is necessary to correct it, the position of the opening end 16c is corrected. Subsequently, based on the measured uneven shape of the inner peripheral surface of the tunnel 2b, it is determined whether or not the position of the corrected opening end (corrected opening end 16e) needs to be re-corrected, and it is determined that the re-correction is not necessary. The straight line passing through the set position of the hole tail 16a and the position of the corrected opening end (corrected opening end 16e) is defined as the corrected drilling line (corrected drilling line 16f). In this way, in order to correct the perforation line 16b in consideration of the uneven shape of the tunnel inner peripheral surface 2b, the uneven shape of the face surface 2a, and the position of the hole tail 16a, the structure of the tunnel inner peripheral surface 2b is used for blasting. It is possible to prevent the end point position of the drilling from deviating from the planned position of the hole end 16a while preventing the contact with the drilling device 1.

Further, in the blasting drilling device 1 according to the third embodiment of the present invention, when it is determined that the position of the corrected opening end (corrected opening end 16e) needs to be re-corrected, the shape of the inner peripheral surface of the tunnel 2b becomes uneven. Based on this, the position of the corrected opening end (corrected opening end 16e) is re-corrected. Subsequently, a straight line passing through the set position of the hole tail 16a and the position of the re-corrected opening end (re-corrected opening end 16 g) is set as the corrected perforation line (re-correction perforation line 16h). As a result, it is possible to more reliably prevent the end point position of the drilling from deviating from the planned position of the hole end 16a.

(Fourth Embodiment)
Next, the blasting drilling device according to the fourth embodiment of the present invention will be described. Since the overall configuration of the blasting drilling device according to the fourth embodiment is the same as that in FIG. 1, the illustration is omitted. Further, FIG. 13 is a flowchart showing the drilling process of the fourth embodiment. 14 (a), 14 (b) and 14 (c) are drawings showing the operation of the blasting drilling device 1 according to the fourth embodiment. 13, FIG. 14 (a), FIG. 14 (b), FIG. 14 (c) and FIG. 14 (d), FIG. 2, FIG. 3 (a), FIG. 3 (b), FIG. 4 (a), FIG. The parts corresponding to 4 (b), FIG. 5 (a), FIG. 5 (b), FIG. 6 (a) and FIG. 6 (b) are designated by the same reference numerals and duplicate description will be omitted.

In the blasting punching device 1 of the fourth embodiment, a method of determining whether or not the position of the opening end 16c of the planned drilling hole 16 needs to be corrected and a method of correcting the position of the opening end 16c are used for blasting of the first embodiment. It is different from the drilling device 1. In the fourth embodiment, as the perforation process, as shown in FIG. 13, a perforation process in which steps S401 and S402 are provided instead of steps S111 and S112 in FIG. 2 is used while being based on the perforation process of FIG. Be done. As shown in FIG. 15, the perforation process of the fourth embodiment is used for perforating the blasting holes 3 (hereinafter, also referred to as “outer peripheral holes 3”) arranged in the vicinity of the outer peripheral 2c of the face surface 2a. As the outer peripheral surface 2c of the face surface 2a, for example, as shown in FIG. 16B, a contour line where the virtual tunnel inner peripheral surface 2d and the virtual face surface 2e set at the time of tunnel design can be adopted can be adopted. .. As the virtual face surface 2e, for example, the target face surface 15 set at the time of the previous excavation of the face surface 2a, that is, at the time of executing the previous drilling process can be adopted. By using the contour line where the virtual tunnel inner peripheral surface 2d and the virtual face surface 2e intersect, it is possible to cope with a case where it is difficult to specify the boundary between the actual tunnel inner peripheral surface 2b and the actual face surface 2a. As shown in FIGS. 16A and 16B, the outer peripheral hole 3 is provided so as to be inclined in a direction away from the central axis of the tunnel 21 toward the inner side of the tunnel 21.

In step S401, the opening end position correcting portion 14g corrects the position of the opening end 16c set in step S105 based on the uneven shape of the face surface 2a acquired in step S101 (the uneven shape at the position of the opening end 16c). For example, among the positions on the face surface 2a, a position where the distance from the outer circumference 2c of the face surface 2a is the same as the distance between the position of the opening end 16c set in step S105 and the outer circumference 2c of the face surface 2a. , Candidates for the position of the corrected opening end (corrected opening end 16e). That is, the candidate is set on the line 2f having a shape similar to the outer circumference 2c of the face surface 2a, which is one size smaller than the outer circumference 2c of the face surface 2a. As the distance between a certain position and the outer circumference 2c of the face surface 2a, the distance from a certain position to the nearest point on the outer circumference 2c of the face surface 2a is used. Then, from the candidate (point) existing near the opening end 16c among those candidates (points), the angle formed by the straight line passing through one point and the hole end 16a and the face surface 2a at the one point is narrow. A point that satisfies the condition that the angle is equal to or more than a predetermined value (60 °, etc.) is searched for, and as shown in FIG. 14A, the found point (position) is corrected to the open end (open end (position). The position is the corrected opening end 16e).

Subsequently, in step S402, the perforation line correction portion 14k passes through the position of the opening end (corrected opening end 16e) corrected in step S401 as shown in FIG. 14 (b), and the tunnel inner peripheral surface 2b The straight line having the same angle with respect to the angle between the perforation line 16b set in step S105 and the tunnel inner peripheral surface 2b is set as the corrected perforation line (corrected perforation line 16f), and then the process returns to step S106. Here, as the angle of a certain perforation line with respect to the inner peripheral surface 2b of the tunnel, a narrow angle formed by the central axis direction of the tunnel 21 and the certain perforation line can be used.

With the above configuration, in the blasting drilling device 1 according to the first embodiment of the present invention, it is necessary to correct the position of the set opening end 16c based on the measured uneven shape of the face surface 2a. When it is determined whether or not it is necessary to correct it, the opening end 16c is located at a position on the face surface 2a where the distance between the outer circumference 2c of the face surface 2a and the opening end 16c does not change based on the uneven shape. Correct the position. Subsequently, a straight line that passes through the position of the modified opening end (modified opening end 16e) and has the same angle with respect to the tunnel inner peripheral surface 2b is defined as the modified drilling line (modified drilling line 16f). In this way, in order to correct the drilling line 16b in consideration of the uneven shape of the face surface 2a and the angle with respect to the tunnel inner peripheral surface 2b, the tunnel inner circumference is prevented from slipping at the tip of the drilling rod 6a due to the unevenness of the face surface 2a. It is possible to prevent the angle of the blasting hole 3 with respect to the surface 2b from shifting.

(Modification example)
(1) In the blasting drilling device 1 according to the first to third embodiments of the present invention, an example in which the opening end 16c is set on the face surface 2a is shown, but other configurations can also be adopted. .. For example, after the extra digging is performed, before the concrete is put into the space created by the extra digging, the opening end 16c is set on the surface of the space on the face surface 2a side, and the blasting hole 3 is drilled. It may be configured.
(2) Further, in the blasting drilling device 1 according to the first to third embodiments of the present invention, an example in which the position of the opening end 16c is corrected while maintaining the position of the hole tail 16a is shown. It is also possible to adopt the configuration of. For example, in addition to the position of the opening end 16c, the position of the hole tail 16a may be modified. The position of the hole tail 16a is corrected, for example, in a direction away from the central axis of the tunnel.

(3) Further, in the rupture drilling device 1 according to the first and third embodiments of the present invention, the opening end of the drilling rod 6a is prevented from deviating from the opening end 16c of the hole 16 to be drilled. An example is shown in which the angle formed by the normal of the face surface 2a at the position 16c and the perforation line 16b is taken into consideration, but other configurations can be adopted. For example, among arbitrary points on the face surface 2a, the distance in the depth direction at one point and the distance in the depth direction of the peripheral portion are compared, and the distance difference between them is a predetermined value (5 cm, etc.). ) It is judged whether or not it is less than or equal to, and if there is one point judged to be less than or equal to the predetermined value, it is judged that the tip of the drilling rod 6a is hard to deviate, and that one point is corrected. It may be configured to have an opening end 16e or a re-corrected opening end 16g.

(4) Further, in the blasting drilling device 1 according to the first to fourth embodiments of the present invention, an example of adjusting the posture of the drilling rod 6a after adjusting the position of the tip of the drilling rod 6a is shown. , Other configurations may be adopted. For example, the position of the tip of the drilling rod 6a may be adjusted after adjusting the posture of the drilling rod 6a. Further, the position of the tip of the drilling rod 6a may be adjusted and the position of the posture of the drilling rod 6a may be adjusted at the same time.

1 ... Perforation device for rupture, 2 ... Face, 2a ... Face, 2b ... Tunnel inner circumference, 2c ... Face outer circumference, 2d ... Virtual tunnel inner circumference, 2e ... Virtual face, 2f ... Face A line with a shape similar to the outer circumference of the surface, 3 ... Blasting hole, 4 ... Moving carriage, 5 ... Support member, 6 ... Drilling machine, 6a ... Drilling rod, 6b ... Drifter, 7 ... Joint drive device, 8 ... Drifter drive device , 9 ... boom, 10 ... guide shell, 11 ... guide mounting, 12 ... measurement unit, 13 ... storage unit, 14 ... controller, 14a ... measurement result acquisition unit, 14b ... target face surface setting unit, 14c ... hole tail position Setting unit, 14d ... Tilt angle setting unit, 14e ... Perforation line setting unit, 14f ... Opening end position setting unit, 14g ... Opening end position correction unit, 14h ... Initial position setting unit, 14i ... Adjustment unit, 14j ... Control unit, 14k ... Perforation line correction part, 14l ... Open end re-correction part, 14m ... Perforation line re-correction part, 15 ... Target face surface, 16 ... Perforated hole, 16a ... Hole end, 16b ... Perforation line, 16c ... Open end, 16d ... Start position, 16e ... Corrected opening end, 16f ... Corrected perforation line, 16g ... Recorrection opening end, 16h ... Recorrection perforation line

Claims (7)

A blasting drilling device that punches a blasting hole in the face by hitting with a drilling rod having a drilling bit at the tip.
A measuring unit that measures the uneven shape of the face surface of the face,
A drilling line setting unit that sets the drilling line, which is the axis of the blasting hole to be drilled,
Based on the uneven shape of the face surface of the face measured by the measuring unit and the perforation line set by the perforation line setting unit, the position on the extension line of the perforation line that intersects the face surface of the face. The initial position setting unit that sets the initial position at the position on the blasting drilling device side,
The position of the tip of the drilling rod matches the initial position set by the initial position setting unit, and the axis of the drilling rod coincides with the extension line of the drilling line set by the drilling line setting unit. An adjustment unit that adjusts the position of the tip of the drilling rod and the posture of the drilling rod, and
After the adjustment portion finishes adjusting the position of the tip of the perforation rod and the posture of the perforation rod, continuous impact is applied to the rear end portion of the perforation rod, and the perforation line is followed. A blasting drilling device including a control unit that starts the movement of the piercing rod in a direction and starts piercing the rupturing hole in the face. A hole tail position setting unit for setting the position of the hole tail of the blasting hole to be drilled is provided on the target face surface in which the position to be reached after the blasting is set in advance.
The blasting perforation according to claim 1, wherein the perforation line setting portion passes through the position of the perforation tail set by the perforation position setting unit and has a straight line extending while maintaining a predetermined inclination angle as the perforation line. apparatus. Based on the uneven shape of the perforated line set by the perforated line setting unit and the uneven shape of the face surface of the face measured by the measuring unit, at a position where the perforated line and the face surface of the face intersect, for blasting to be drilled. An opening end position setting unit that sets the position of the opening end of the hole,
Based on the uneven shape of the face surface of the face measured by the measuring unit at the position of the opening end set by the opening end position setting unit, it is determined whether or not the position of the opening end needs to be corrected and corrected. When it is determined that is necessary, the opening end position correcting portion for correcting the position of the opening end, and
It is provided with a perforation line correction portion in which a straight line passing through the hole tail position set by the hole tail position setting unit and the position of the opening end corrected by the opening end position correction unit is used as the corrected perforation line.
When the corrected perforation line is obtained by the perforation line correction unit, the initial position setting unit, the adjustment unit, and the control unit are replaced with the perforation line set by the perforation line setting unit. The blasting perforation device according to claim 2, wherein the corrected perforation wire obtained by the line correction unit is used. The measuring unit measures the uneven shape of the face surface and the uneven shape of the inner peripheral surface of the tunnel.
Based on the uneven shape of the perforated line set by the perforated line setting unit and the uneven shape of the face surface of the face measured by the measuring unit, at a position where the perforated line and the face surface of the face intersect, for blasting to be drilled. An opening end position setting unit that sets the position of the opening end of the hole,
Based on the uneven shape of the inner peripheral surface of the tunnel measured by the measuring unit, it is determined whether or not the position of the opening end set by the opening end position setting unit needs to be corrected, and it is determined that the correction is necessary. , The opening end position correction part that corrects the position of the opening end based on the uneven shape,
It is provided with a perforation line correction portion in which a straight line passing through the hole tail position set by the hole tail position setting unit and the position of the opening end corrected by the opening end position correction unit is used as the corrected perforation line.
When the corrected perforation line is obtained by the perforation line correction unit, the initial position setting unit, the adjustment unit, and the control unit are replaced with the perforation line set by the perforation line setting unit. The blasting perforation device according to claim 2, wherein the corrected perforation wire obtained by the line correction unit is used. The measuring unit measures the uneven shape of the face surface and the uneven shape of the inner peripheral surface of the tunnel.
Based on the uneven shape of the perforated line set by the perforated line setting unit and the uneven shape of the face surface of the face measured by the measuring unit, at a position where the perforated line and the face surface of the face intersect, for blasting to be drilled. An opening end position setting unit that sets the position of the opening end of the hole,
Based on the uneven shape of the face surface of the face measured by the measuring unit at the position of the opening end set by the opening end position setting unit, it is determined whether or not the position of the opening end needs to be corrected and corrected. When it is determined that is necessary, the opening end position correcting portion for correcting the position of the opening end, and
Based on the uneven shape of the inner peripheral surface of the tunnel measured by the measuring unit, it is determined whether or not the position of the opening end corrected by the opening end position correction unit needs to be re-corrected, and it is determined that the re-correction is not necessary. Then, a perforation line correction portion is provided in which a straight line passing through the hole tail position set by the hole tail position setting unit and the opening end position corrected by the opening end position correction portion is used as the corrected perforation line.
When the corrected perforation line is obtained by the perforation line correction unit, the initial position setting unit, the adjustment unit, and the control unit are replaced with the perforation line set by the perforation line setting unit. The blasting perforation device according to claim 2, wherein the corrected perforation wire obtained by the line correction unit is used. When it is determined that the position of the opening end corrected by the opening end position correction portion needs to be re-corrected, the opening corrected by the opening end position correction portion is based on the uneven shape of the inner peripheral surface of the tunnel measured by the measurement unit. An open end re-correction part that re-corrects the position of the end,
It is provided with a perforation line re-correction portion in which a straight line passing through the hole tail position set by the perforation position setting portion and the position of the opening end re-corrected by the opening end re-correction portion is used as the corrected perforation line.
When the corrected perforation line is obtained by the perforation line re-correction unit, the initial position setting unit, the adjustment unit, and the control unit are replaced with the perforation line set by the perforation line setting unit. The blasting perforation device according to claim 5, wherein the corrected perforation line obtained by the perforation line re-correction unit is used. Based on the uneven shape of the perforated line set by the perforated line setting unit and the uneven shape of the face surface of the face measured by the measuring unit, at a position where the perforated line and the face surface of the face intersect, for blasting to be drilled. An opening end position setting unit that sets the position of the opening end of the hole,
Based on the uneven shape of the face surface of the face measured by the measuring unit, it is determined whether or not the position of the opening end set by the opening end position setting unit needs to be corrected, and it is determined that the correction is necessary. Then, based on the uneven shape, the opening end position correction portion that corrects the position of the opening end to a position where the distance between the outer circumference of the face surface and the opening end does not change among the positions on the face surface. ,
It is provided with a perforation line correction portion that passes through the position of the opening end corrected by the opening end position correction portion and uses a straight line having the same angle with respect to the inner peripheral surface of the tunnel as the corrected perforation line.
The initial position setting unit, the adjustment unit, and the control unit are characterized in that the modified perforation line obtained by the perforation line correction unit is used instead of the perforation line set by the perforation line setting unit. The blasting drilling device according to claim 1 or 2.

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