JP2023103613A - Drilling system and drilling method - Google Patents

Abstract

To automatically drill a concrete structure.SOLUTION: A drilling system comprises a drilling condition sheet storage unit PCm1 for storing a drilling condition sheet in which drilling conditions including a drilling order, a drilling position and a drilling depth about a plurality of holes to be drilled every longitudinal row or every transverse row relative to a structure S are set, a drilling device A1 to which a hammer drill 1 drilling the structure S is attached in a liftable manner and is movable along the structure S, a control unit C reading the drilling condition sheet and controlling the drilling successively while repeating a lifting of the hammar drill 1 and a movement of the drilling device A1, and stopping the drilling and controlling the drilling in the next drilling order for holes impossible to be drilled in a depth adapted to the drilling condition and a drilling result storage unit PCm2 storing a drilling result by the drilling device A1. The updated drilling condition sheet is input so that the hole impossible to be drilled in the depth adapted to the drilling condition is drilled limited to the hole.SELECTED DRAWING: Figure 11

Description

The present invention relates to a drilling system and drilling method for drilling a concrete structure.

For concrete structures on the ground, underground, semi-underground, etc. that are in contact with the ground, and concrete structures built on the ground near railroads, roads, etc., for the purpose of seismic reinforcement, from one side of the structure After drilling a hole and filling the hole with a fixing material, the shear strength of the structure is increased by inserting the post-installed shear reinforcing bar (hereinafter referred to as "shear reinforcing bar") and integrating it with the structure. A method to improve it is carried out.

In addition, for existing structures such as roads, bridges, dams, embankments, etc., which are constructed of a concrete frame, holes are drilled at specified intervals on the side and top and bottom surfaces of the frame for the purpose of maintaining and reinforcing the bearing capacity. In this method, a post-installed anchor is embedded, reinforcing bars are arranged so as to be connected to the post-installed anchor, and concrete is further poured.

In the drilling work, a worker on site firmly holds the handle and side handle of the heavy drilling device with both hands and presses the bit against the drilling position of the structure to dig. proceed.

In addition, for example, Patent Document 1 (Japanese Unexamined Patent Application Publication No. 2016-037787) is known for a shear reinforcement method for structures. In addition, for example, Patent Document 2 (Japanese Unexamined Patent Application Publication No. 2018-131848) is known for a method of adding concrete to a structure.

JP 2016-037787 A JP 2018-131848 A

Now, in order to seismically reinforce a structure, a large number of holes must be drilled in the structure in order to embed the shear reinforcing bars. Similarly, in the additional driving method, a large number of holes must be drilled in the structure to embed the post-installed anchors. As a result, work using the above-described conventional drilling apparatus becomes a heavy labor, and as a result, work efficiency deteriorates.

If a plurality of holes can be drilled automatically in a concrete structure, the worker can be freed from drilling work and can perform other work, improving work efficiency and shortening the construction period. Shortening can be achieved.

However, since reinforcing bars and buried objects (pipes, etc.) are arranged inside concrete structures, these become obstacles for automatic drilling.

The present invention has been made in view of the above technical background, and provides a drilling system and drilling method capable of automatically drilling a plurality of holes in a concrete structure in accordance with drilling conditions. for the purpose.

In order to solve the above problems, the drilling system of the present invention according to claim 1 drills a plurality of holes in a concrete structure for each row in the vertical direction or for each row in the horizontal direction. an input unit for inputting a drilling condition sheet for setting drilling conditions including order, drilling position and drilling depth; and a drilling condition sheet storage for storing the drilling condition sheet input by the input unit. and a drilling machine for drilling the structure, which is mounted so as to be able to move up and down by a lifting motor, and is guided by a guide rail by a traveling motor to move along the structure. an elevation position detection unit for detecting the elevation position of the drilling machine, a drilling depth detection unit for detecting the drilling depth by the drilling machine, and a travel distance for detecting the travel distance of the drilling device. A drilling state detection unit having a detection unit; reading the drilling condition sheet from the drilling condition sheet storage unit; While repeating the movement of the drilling device by the traveling motor, the drilling machine is controlled to drill sequentially, and when the drilling machine cannot drill a hole with a depth suitable for the drilling conditions, the drilling is performed. For the hole detected by the hole state detection unit, a control unit for stopping drilling and for drilling the next hole in the order of drilling, and a drilling result storage unit for storing the drilling result by the drilling device. and, in the input unit, if there is a hole that could not be drilled to a depth that matches the drilling condition in the drilling result stored in the drilling result storage unit, It is characterized in that the drilling condition sheet updated so as to limit drilling to holes is inputted.

The drilling system of the present invention according to claim 2 is the drilling system according to the invention according to claim 1, wherein the drilling state detection unit includes the drilling device and the structure of the position of the hole to be drilled in the structure. A drilling surface distance detection unit for detecting a distance to the surface of the object is further provided, and the control unit detects the It is characterized in that the drilling by the drilling machine is controlled based on the detection result by the drilling surface distance detection unit.

According to a third aspect of the present invention, there is provided a drilling system according to the first aspect, wherein the drilling state detection unit includes a wall surface for detecting the distance between the drilling device and the wall surface of the structure. Further comprising a distance detection unit, wherein the control unit controls drilling by the drilling machine based on the detection result of the wall surface distance detection unit detected prior to the start of drilling by the drilling device. characterized by

The drilling system of the present invention according to claim 4 is the drilling system according to any one of claims 1 to 3, wherein the input unit has a position at which the drilling position can be set in at least one of the vertical direction and the horizontal direction. It is characterized in that the drilling condition sheet updated so as to shift the drilling in one direction is input.

The drilling system of the present invention according to claim 5 is the drilling system according to any one of claims 1 to 4, wherein the drilling state detection unit sets the drilling depth within a predetermined time. It is characterized in that it is determined that the drilling machine cannot drill a hole that meets the drilling condition when the value has not been reached or when drilling has stagnated.

Claim 6 is a drilling system according to any one of claims 1 to 5, wherein the plurality of drilling condition sheets stored in the drilling condition sheet storage unit and It is characterized by further comprising an output unit that compares and outputs the drilling result stored in the drilling result storage unit.

According to a seventh aspect of the present invention, there is provided a drilling system according to the sixth aspect of the invention, wherein the output unit outputs a determination result of a hole conforming to the drilling condition and a hole not conforming to the drilling condition. It is characterized by outputting together.

The drilling system of the present invention according to claim 8 is the drilling system according to any one of claims 1 to 7, wherein a plurality of the drilling condition sheets are provided in a selectable manner. and

In order to solve the above problems, the drilling method of the present invention as set forth in claim 9 is a drilling machine that drills holes in a structure made of concrete and is capable of moving up and down along the structure. A drilling method for automatically drilling a plurality of holes in the structure using a device, wherein the plurality of holes are drilled for each vertical row or horizontal row of the structure. an input step of inputting a drilling condition sheet including a drilling sequence, a drilling position and a drilling depth; a drilling condition sheet reading step of reading the drilling condition sheet input in the input step; and the drilling conditions. Based on the drilling condition sheet read in the sheet reading step, the drilling machine sequentially drills holes while repeating the lifting and lowering of the drilling machine and the movement of the drilling device, and the drilling machine performs the drilling. A drilling step of stopping drilling for a hole that cannot be drilled to a depth that matches the hole conditions and drilling the next hole in the order of drilling, and a drilling result storage for storing the drilling result by the drilling device. In the input step, if there is a hole that could not be drilled to a depth that matches the drilling conditions in the drilling result stored in the drilling result storage step, It is characterized by inputting the drilling condition sheet updated so as to drill only holes.

According to a tenth aspect of the present invention, there is provided a drilling method according to the ninth aspect, wherein the The method is characterized in that the drilling is performed by detecting the distance between the drilling device and the surface of the structure at the position of the hole to be drilled in the structure.

The drilling method of the present invention according to claim 11 is the drilling method according to the invention according to claim 9, wherein in the drilling step, the drilling device detected prior to the start of drilling by the drilling device and the structure The hole is drilled by the drilling machine based on the detection result of the distance from the wall surface of the object.

Claim 12 is the drilling method of the present invention according to any one of claims 9 to 11, wherein in the input step, the drilling position is set in at least one of the vertical direction and the horizontal direction. inputting the drilling condition sheet updated so as to shift the drilling in the direction of .

Claim 13 is the drilling method according to any one of claims 9 to 12, wherein in the drilling step, the drilling depth reaches a set value within a predetermined time. It is characterized in that drilling is stopped when it does not reach or when drilling stagnates.

The drilling method of the present invention according to claim 14 is the drilling method according to any one of claims 9 to 13, wherein the drilling condition sheet read in the drilling condition sheet reading step and the drilling It is characterized by further comprising an output step of outputting the result of comparison with the drilling result stored in the step of storing the drilling result.

According to a fifteenth aspect of the present invention, there is provided a drilling method according to the fourteenth aspect of the present invention, in which, in the output step, a determination result of a hole conforming to the drilling condition and a hole not conforming to the drilling condition sheet are output together.

In this way, in the present invention, in this embodiment, under the control of the control unit, a plurality of holes are drilled for each row in the vertical direction or for each row in the horizontal direction in a concrete structure. A drilling condition sheet in which drilling conditions including drilling order, drilling position and drilling depth are set is read, and drilling is performed by a drilling machine based on the drilling condition sheet. In addition, when the drilling machine cannot drill a hole with a depth that matches the drilling conditions, drilling is stopped and the next drilling sequence is drilled. Then, if there is a hole that could not be drilled to a depth that matches the drilling conditions, the drilling condition sheet Sh is updated so that the hole is limited to the hole and drilled by shifting the drilling position. The hole is re-drilled based on the

This makes it possible to automatically drill a plurality of holes in a concrete structure in accordance with drilling conditions.

FIG. 2 is an explanatory view showing a part of a concrete structure seismically reinforced by inserting a shear reinforcing reinforcing bar into a hole drilled by a drilling system according to an embodiment of the present invention; BRIEF DESCRIPTION OF THE DRAWINGS It is a side view which shows the apparatus structure of the drilling system which concerns on one embodiment of this invention. FIG. 3 is a plan view showing the chassis and guide rails of the drilling device that constitute the drilling system of FIG. 2 ; FIG. 3 is a diagram showing a main part of a drilling device and guide rails that constitute the drilling system of FIG. 2 ; 4. It is a figure which shows the principal part of the drilling apparatus which comprises the drilling system of FIG. 2, and a guide rail from the direction different 90 degrees horizontally from FIG. 3 is a side view showing a rotary encoder and a guide rail attached to a drilling device that constitutes the drilling system of FIG. 2; FIG. FIG. 7 is a view showing a rotary encoder and a guide rail attached to a drilling device that constitutes the drilling system of FIG. 2 from a direction different from that of FIG. FIG. 3 is a plan view showing a guide rail that constitutes the drilling system of FIG. 2; FIG. 9 is a plan view showing an enlarged end portion of the guide rail of FIG. 8; It is the figure which looked at the guide rail of FIG. 8 from the edge part at the horizontal direction. 1 is a block diagram showing a control system of a drilling system according to one embodiment of the present invention; FIG. It is an explanatory view showing an example of a drilling position to a wall of concrete structures. FIG. 13 is an explanatory diagram showing an example of a drilling condition sheet in which drilling conditions for drilling at the drilling position shown in FIG. 12 are set; FIG. 14 is an explanatory diagram showing an example of a drilling condition sheet in which drilling conditions for drilling at a drilling position different from those in FIG. 13 are set; FIG. 15 is an explanatory diagram showing an example of a drilling condition sheet in which drilling conditions for drilling at a drilling position different from those in FIGS. 13 and 14 are set; FIG. 13 is an explanatory diagram showing an example of a history file when drilling is performed based on the drilling condition sheet of FIG. 12; It is explanatory drawing which shows an example of the updated drilling conditions sheet. FIG. 18 is an explanatory diagram showing an example of a history file when drilling is performed based on the drilling condition sheet of FIG. 17; 1 is an explanatory diagram showing a hole drilled by a drilling system according to an embodiment of the present invention and reinforcing bars arranged in a structure; FIG. 1 is a flowchart illustrating a process for automatically drilling holes in a concrete structure using a drilling system according to one embodiment of the present invention;

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment as an example of the present invention will be described in detail below with reference to the drawings. In the drawings for describing the embodiments, in principle, the same components are denoted by the same reference numerals, and repeated description thereof will be omitted.

The drilling device A1, which is a component of the drilling system A of the present embodiment, is, for example, an existing concrete structure S in contact with the ground G as shown in FIG. For existing concrete structures built on the ground (roads, bridges, dams, embankments, etc.), anchor holes (holes for embedding post-installed anchors) from one side as a step of reinforcement is used to open a hole H in the After filling the hole H with the fixing material M, the shear strength of the structure S is improved by inserting the shear reinforcing reinforcing bar R and integrating it with the structure S. As the shear reinforcing bar R, for example, one side of a generally used reinforcing bar R1 is threaded and obliquely cut, and a hexagonal nut (fixing member) R2 is attached to the tip.

As shown in FIG. 2, the drilling system A of the present embodiment includes a hammer drill (drilling machine) 1 for drilling a structure S to be drilled, which is provided so as to move back and forth. It comprises a drilling device A1 and guide means A2 for guiding the movement of the drilling device A1 along the structure S.

Here, the drilling device A1 includes a lifter 10 that supports the hammer drill 1 so that it can move up and down. The lifter 10 is driven by a lifter base 11, an elevating mast 12 mounted on the lifter base 11, and an elevating motor 13 installed at the lower end of the elevating mast 12 to move along the side surface of the elevating mast 12. The hammer drill 1 described above is installed on the lifting table 14 .

Two slits (not shown) for guiding the lifting and lowering of the lifting table 14 are formed extending in the vertical direction on the mounting side of the lifting table 14 in the lifting mast 12 having a square cross section in the horizontal direction. . Two guide plates (not shown) provided at the rear of the lifting table 14 are fitted into the slit so as to be vertically movable with a slight gap between them. As a result, the lifting table 14 lifts and lowers the lifting mast 12 along the slit through the guide plate. Further, the lifter 10 is provided with a ball screw 15 which is arranged in the vertical direction, is rotated by the lifting motor 13 , and is screwed with the lifting table 14 . Therefore, when the ball screw 15 is rotated by driving the elevator motor 13, the elevator table 14 is raised or lowered along the slit. Then, when the lifting motor 13 stops, the lifting table 14 stops at the height position at that time.

The hammer drill 1 installed on the elevating table 14 of the lifter 10 is driven by the drill driving motor 1b (FIG. 11), and can be used for either striking or rotating, and can also be adjusted for strength. However, it may not be possible to adjust the intensity. Further, the hammer drill 1 is mounted on an advancing/retreating member 2 that linearly reciprocates on an elevating table 14, and the advancing/retracting member 2 is capable of advancing and retreating in the drilling direction.

Here, the advance/retreat member 2 includes a slider 2a on which the hammer drill 1 is mounted, a slide guide 2b that holds the slider 2a so as to be able to move forward and backward in the drilling direction, and a propulsion force (propulsion for reciprocating movement) applied to the slider 2a. An air cylinder (Fig. 11) 1c is installed as a thrust applying means for applying force. The air cylinder 1c is of a two-port type in which cylinder chambers are located in front of and behind the slider 2a, and air is supplied to and discharged from each cylinder chamber. Guided by the guide 2b, the hammer drill 1 on the slider 2a slides forward and backward.

In this embodiment, a pneumatic operating portion 1d is used as an operating member for operating the power switch of the hammer drill 1. As shown in FIG. A tube (not shown) to which air is supplied as a driving force is detachably connected to the pneumatic operating portion 1d. When air is injected, the pneumatic operating portion 1d expands to turn on the power switch. is pressed to turn on the power, and when the air is released, the pneumatic operation part 1d is contracted and the power switch is released to turn off the power.

Then, air is supplied to the pneumatic operation unit 1d to turn on the power switch of the hammer drill 1, and the drill drive motor is rotated to start driving the hammer drill 1. When the slider 2a is moved in a direction to approach the structure S to advance the hammer drill 1, the tip of the bit 1a of the hammer drill 1 is pressed against the drilling position of the structure S and drilling is performed. When drilling is completed and the slider 2a is moved away from the structure S by the air cylinder 1c to move the hammer drill 1 backward, the bit 1a of the hammer drill 1 is extracted from the hole and returned to the standby position.

In this embodiment, the maximum drilling depth of the hammer drill 1 is about 250 mm. However, the drilling depth is determined by the length of the bit 1a attached to the hammer drill 1, the sliding length of the slider 2a, and the like, and is not limited to 200 mm, which is the embodiment.

On the opposite side of the lifting mast 12 from the side on which the lifting table 14 is installed, an air cylinder 1c for applying a driving force to the slider 2a and a pneumatic operation unit 1d for operating the power switch of the hammer drill 1 are operated. A regulator 12a is provided for adjusting the air pressure from the air compressor 36 to a predetermined value.

As the thrust applying means for applying the thrust to the slider 2a, a thrust applying means other than the air cylinder 1c, such as a ball screw for advancing and retracting the slider 2a by rotation and a drill advance/retreat motor for rotating the ball screw, is used. may

As shown in FIG. 3, the drilling apparatus A1 is provided with a chassis 20 including the aforementioned lifter table 11 on which a lifting mast 12, which is a component of the lifter 10, is mounted. The chassis 20 comprises a pair of first beams 21 provided parallel to each other and orthogonal to the moving direction of the drilling device A1, which will be described later. It has a pair of second beams 22, and has a substantially rectangular frame shape in a plan view. In addition, the length of the second beam 22 is longer than the width formed by the pair of first beams 21, and the fixing positions of the first beams 21 on both sides of the second beam 22 are outside the fixed positions. is the overhang portion 22a.

In the present embodiment, the first beam 21 and the second beam 22 are columns made of square tubular steel, but the present invention is not limited to this. of steel can be used.

The lifter table 11 described above has a lifting motor 13 attached thereto, and is fixed between the pair of first beams 21 at a substantially central position in the longitudinal direction of the first beams 21 . Furthermore, a reinforcing frame 23 for reinforcing the first beams 21 is provided between the pair of first beams 21 near the lifter base 11 .

Brackets 24a are attached to a total of four locations on both ends of a pair (that is, two) of the second beams 22, and outriggers 24 are attached for grounding and stabilizing the chassis 20 during drilling by the hammer drill 1. there is In addition, L-shaped caster bases 25 in a plan view are installed at four locations so as to straddle the end of the first beam 21 and the overhang portion 22a of the second beam 22 . Casters 26 that movably support the chassis 20, ie, the drilling device A1, are attached to the respective caster bases 25 in a direction substantially perpendicular to the moving direction of the hammer drill 1. As shown in FIG.

As shown in FIGS. 4 and 5, a geared motor (running motor) 28 having an output shaft 28a and a pinion gear 27 meshing with a rack gear 34, which will be described later, is mounted via a bracket 29 on the chassis 20. As shown in FIGS. there is The geared motor 28 is a device in which a motor and a reduction gear are integrated, and the rotation of the motor is reduced by the reduction gear to transmit the rotational force to the output shaft 28a.

In the present embodiment, the geared motor 28 capable of obtaining a large torque is used as the running motor, but it is also possible to use a single motor or a motor with a separate reduction gear. However, the running motor is not limited to the geared motor 28 .

As shown in FIGS. 6 and 7, on the chassis 20, a rotary encoder 31 for detecting the movement distance of the drilling device A1 is mounted on the bracket 30 on the side opposite to the geared motor 28 with the pair of first beams 21 interposed therebetween. attached through A pinion gear 32 that meshes with a rack gear 34, which will be described later, is also attached to the rotary shaft 31a of the rotary encoder 31. As shown in FIG. In addition, the rotary encoder 31 is housed within a housing 31b to prevent entry of surrounding dust. The detection of the movement distance of the drilling device A1 by the rotary encoder 31 will be described later.

In the geared motor 28 of the present embodiment, a servomotor capable of controlling the rotational position is used as the motor that is the power source, and the rotary encoder 31 converts the mechanical displacement amount of rotation into an electrical signal (pulse). By doing so, the servomotor can be stopped by the number of pulses counted by a counter (not shown).

Now, in the drilling system A of the present embodiment, guide means A2 for guiding the movement of the drilling device A1 along the structure S is provided.

8 to 10, the guide means A2 includes a guide rail 33 laid along the structure S to be drilled, and a rack gear 34 attached along the extending direction of the guide rail 33. . Further, the rack gear 34 meshes with the pinion gears 27 and 32 (that is, the pinion gear 27 attached to the output shaft 28a of the geared motor 28 and the pinion gear 32 attached to the rotating shaft 31a of the rotary encoder 31). there is

Therefore, when the geared motor 28 rotates, the drilling device A1 is guided by the guide rail 33 via the pinion gear 27 and the rack gear 34, and is moved along the structure S by the rotation of the casters 26 attached to the drilling device A1. to move. At this time, as the drilling device A1 moves, the rotary encoder 31 rotates (specifically, the rotary encoder 31 rotates via the rack gear 34 and the pinion gear 32), so the number of pulses to the next movement position is set. At the same time, by counting the number of pulses generated by the rotary encoder 31 with a counter, the moving distance of the drilling device A1 is detected. By stopping the geared motor 28 when the set number of pulses is reached, the drilling device A1 can be accurately moved to the target position.

In the drilling system A of the present embodiment, a controller (FIG. 11) C is provided for controlling the rotation of the geared motor 28 based on the rotary encoder 31 so that the drilling device A1 is moved to a preset movement position. The drilling device A1 can be moved to a predetermined drilling position by automatic control. Furthermore, the control unit C not only controls the rotation of the geared motor 28, but also controls the rotation of the lifting motor 13 that lifts and lowers the lifting table 14 on which the hammer drill 1 is mounted, and controls the drilling operation of the hammer drill 1. , and the drilling of the structure S is automatically controlled at the preset drilling position and drilling depth. Details of the control of the drilling system A will be described later.

In this embodiment, the rotary encoder 31 is used as means for detecting the moving distance of the drilling device A1. good too. Moreover, in order to improve the detection accuracy, the rotary encoder 31 and the rangefinder may be used together. Furthermore, when the motor constituting the geared motor 28 is a stepping motor, the number of pulse signals generated by the controller and input to the motor is the amount of rotation of the motor (that is, the moving distance of the drilling device A1). Therefore, the controller may be used as means for detecting the moving distance of the drilling device A1. Also in this case, a rangefinder that measures the movement distance of the drilling device A1 using laser light, ultrasonic waves, or the like may be used, or a controller and a rangefinder may be used together in order to improve detection accuracy.

As shown in FIGS. 4, 6, and 8 to 10, the guide rail 33 of the above-described embodiment includes two rails 33a made of angle members arranged parallel to each other and the rail 33a. and a connecting plate 33b which is a steel plate welded so as to connect the two rails 33a at the bottom surface. Further, the guide rail 33 is provided with a bridge plate 33c which is welded so as to bridge the connecting plates 33b adjacent to each other and which is formed with a long hole 33ca. It is fixed to the ground with anchor bolts 33d.

In addition, as shown in FIG. 8, in the vicinity of the connecting plate 33b over which the bridge plate 33c is spanned (at a position spaced by the length of the bridge plate 33c), there is a connecting plate over which the bridge plate 33c is not spanned. A plate 33b (an independent connecting plate 33b) is installed. In this way, when the anchor bolt 33d cannot be driven into the initially planned position, the driving position of the anchor bolt 33d can be shifted by setting one side of the bridge plate 33c so as to span the independent connecting plate 33b. This is because it can be re-struck.

As shown in FIGS. 3, 4 and 6, the chassis 20 is provided with a holding roller 35 for holding the rack gear 34 and the pinion gears 27 and 32 in mesh with each other. is installed adjacent to the

The holding rollers 35 are arranged as a pair between the two rails 33a, and rotate in contact with the respective rails 33a as the drilling device A1 moves. As a result, when the drilling device A1 is moved, the holding roller 35 rotates and serves as a guide to keep the rack gear 34 and the pinion gears 27, 32 in mesh with each other. functions as a department.

In addition, the rail 33a may be configured by a material other than the angle material. Further, the holding member for holding the meshed state of the rack gear 34 and the pinion gears 27, 32 is not limited to the holding roller 35 shown in this embodiment. A structure other than the present embodiment may be adopted, such as a structure in which one roller 35 is used and the rack gear 34 and the rail 33a are sandwiched between the one holding roller 35 and the pinion gears 27 and 32 .

In this embodiment, the rack gear 34 is attached along the side of the guide rail 33, the pinion gear 27 is attached to the output shaft 28a of the geared motor 28 projecting downward, and the pinion gear 32 is attached to the rotary encoder projecting downward. 31 is attached to a rotating shaft 31a. The rack gear 34 can be mounted facing upward, but this avoids the problem of dust entering and accumulating between the rack gear 34 and the pinion gears 27 and 32 during the drilling of the structure. In addition, the drilling device A1 can always be moved smoothly. However, the mounting position of the rack gear 34 may not be the side portion of the guide rail 33 .

In FIG. 2, an air compressor 36 is mounted at the rear of the chassis 20 to supply air to the air cylinder 1c for propelling the slider 2a and to the pneumatic operating section 1d for operating the power switch of the hammer drill 1. As shown in FIG. A dust collector 37 is mounted on the air compressor 36 . The tip of a suction hose (not shown) extending from the dust collector 37 is connected to the bit 1a of the hammer drill 1, and dust generated when drilling the structure S is sucked into the dust collector 37.

Furthermore, behind the air compressor 36, a control box 38 containing a control panel and a switchboard on which the control section C described above is mounted, and various devices is mounted.

According to the drilling system A, the pinion gear 27 attached to the output shaft 28a of the geared motor 28 meshes with the rack gear 34 attached to the guide rail 33, and the geared motor 28 As it rotates, it moves along the structure S with the rotation of the casters 26 while being guided by the guide rails 33 via the pinion gear 27 and the rack gear 34 .

When drilling a hole in a concrete structure S using the drilling device A1 having the above configuration, the geared motor 28 is rotated and the drilling device A1 is guided by the guide rail 33 to the structure S. to a predetermined position. At this time, the outrigger 24 may be grounded to fix the drilling device A1 at that position.

Next, the lifter 10 is used to adjust the height so that the hammer drill 1 is positioned at a target drilling position. Specifically, the elevation motor 13 raises and lowers the elevation table 14 to adjust the height of the hammer drill 1 .

Then, air is supplied to the pneumatic operating portion 1d to turn on the power switch of the hammer drill 1, and the hammer drill 1 is moved forward to press the tip of the bit 1a against the drilling position of the structure S to drill. That is, the slider 2a is moved by the air cylinder 1c, which is the advance/retreat member 2, and the tip of the bit 1a of the hammer drill 1 is pressed against the drilling position to perform drilling.

When the drilling is finished, the slider 2a is moved away from the structure S to move the hammer drill 1 backward and return it to the standby position. Then, the hammer drill 1 is lifted and lowered by the lifter 10 to move the hammer drill 1 to the next drilling position and drill holes in the same manner.

After drilling a row in the vertical direction in this manner, the geared motor 28 is rotated to move the drilling device A1 to the next drilling position along the structure S, and the same procedure as described above is performed. Drill holes. Then, drilling is performed by repeating such operations.

As described above, according to the drilling device A1 of the present embodiment, it is possible to automatically move the drilling device A1 along the structure S to be drilled. The concrete structure S can be drilled with the hammer drill 1 only by moving the device A1 and adjusting the height with the lifter 10, and the structure S can be drilled while reducing the burden on the operator. be possible.

Note that the guide means A2 including the guide rail 33 and the rack gear 34 need not be laid over the entire length of the structure S to be drilled. That is, if the guide means A2 is removed from the portion where drilling is completed and is laid and extended in the portion to be drilled from now on, the total length of the guide means A2 is longer than the total length of the structure S to be drilled. Even if the distance is short, the drilling device A1 can be automatically moved for continuous drilling.

FIG. 11 is a block diagram of the control system of the drilling system A including the drilling apparatus A1 having the above configuration. In FIG. 11, blocks connected by broken lines indicate that they are in an indirect relationship.

As shown in FIG. 11, the drilling system A includes the above-described drilling device A1 and input of a drilling condition sheet Sh (FIGS. 13, 14, and 15) for setting various drilling conditions for the structure S. An input/output unit PC such as a PC (personal computer) that performs (setting) and outputs drilling results, a control unit C that executes operation control of the entire drilling system A, and detects the drilling state of the drilling device A1. and a manual operation unit MU such as a pendant switch manually operated by the operator. Further, the input/output unit PC includes a drilling condition sheet storage unit PCm1 in which the drilling condition sheet Sh is stored and a drilling result storage unit PCm2 in which the drilling results are stored.

The drilling condition sheet Sh stored in the drilling condition storage unit PCm1 is a sheet in which drilling conditions for the walls of the structure S are set. The operator inputs numerical values in consideration of the positions of reinforcing bars arranged in the structure S, the size of the drilling area, and the like. However, the numerical value may be automatically input using AI (Artificial Intelligence) or the like. As will be described later, the control unit C reads the drilling condition sheet Sh stored in the drilling condition sheet storage unit PCm1 and performs drilling.

Further, the drilling result stored in the drilling result storage part PCm2 is the drilling result of the hole drilled in the structure S. FIG. As will be described later, the controller C acquires the drilling result based on the detection information transmitted from the drilling state detector SS and stores it in the drilling result storage PCm2. The input/output unit PC outputs the drilling results together with the drilling conditions, and this output is called a history file F in the present embodiment.

In the input/output unit PC, the drilling condition sheet Sh stored in the drilling condition sheet storage unit PCm1 and the drilling results stored in the drilling result storage unit PCm2 are checked by the operator when required. It is possible to do so.

Further, in the drilling system A of the present embodiment, the input/output unit PC is integrated with the input unit for inputting (setting) the drilling condition sheet Sh and the output unit for outputting the history file F which is the drilling result. However, the input section and the output section may be separated from each other. Numerical values and the like are input to the drilling condition sheet Sh using various input media such as a keyboard, mouse, and touch panel. Also, the history file F is output to various output media such as a liquid crystal display and a printed paper medium.

Here, the drilling condition sheet Sh and the history file F will be explained with reference to FIGS. 12 to 18. FIG. FIG. 12 is an explanatory diagram showing an example of drilling positions with respect to the wall of the structure S, and FIGS. 16 is an explanatory diagram showing an example of a history file when drilling is performed based on the drilling condition sheet Sh1 of FIG. 13; FIG. 17 is an updated drilling condition sheet Sh1; FIG. 18 is an explanatory diagram showing an example, and FIG. 18 is an explanatory diagram showing an example of a history file when drilling is performed based on the drilling condition sheet Sh1 of FIG.

In FIG. 12, the circles indicate the holes H drilled in the structure S, and the three-digit number attached to each hole H is the drilling number that also serves as the order of drilling. . In addition, the number written under this three-digit number is the movement setting value (vertical movement distance of the hammer drill from the origin) when the first drilling position is the origin (0, 0). value (movement distance of the drilling device from the origin)). It should be noted that the lift set value is negative when the hammer drill 1 is lifted. Therefore, when the hammer drill 1 is lowered, the plus sign is omitted. Further, in this embodiment, since the drilling device A1 is designed to move in only one direction, the set value for movement is determined by plus/minus signs as in the case of vertical movement of the hammer drill 1. Direction is not identified. However, when the drilling device A1 is to be reciprocated, the direction of movement is identified by a code.

Now, as shown in FIG. 12, the drilling order is such that the upper left hole H (drilling number: 101) is drilled first, as indicated by the numbers attached to each hole H. 0), the hole H (800, 0) of drilling number 102 that is 800 mm down from the origin, the hole H (400, 200) of drilling number 103 that is 400 mm down 200 mm right from the origin, and is 400 mm up 200 mm right from the origin. Hole H (-400, 200) of drilling number 104, hole H (0, 400) of drilling number 105 at the same horizontal position 400 mm right from the origin, drilling number 106 hole 400 mm right from the origin and 800 mm lower. Hole H (800, 400), hole H (400, 600) drilling number 107 that is 600 mm right from the origin and 400 mm lower than the origin, drill number 108 hole H (-400, 600) that is 600 mm right from the origin and is 400 mm higher It has become.

The drilling condition sheet Sh1 (Sh) shown in FIG. 13 corresponds to the drilling shown in FIG. 12, and is a sheet in which drilling conditions for eight holes with drilling numbers 101 to 108 shown in FIG. 12 are set. As shown in the figure, in the present embodiment, the drilling conditions set in the drilling condition sheet Sh1 include a drilling number, elevation setting value, movement setting value, drilling depth setting value (drilling depth by hammer drill 1 setting value of depth), and no drilling (a checkmark box to be entered when a hole of drilling depth could not be drilled).

As shown in FIGS. 14 and 15, drilling condition sheets Sh2 and Sh3 (Sh) are provided for drilling positions and numbers of holes different from those in the drilling condition sheet Sh1 shown in FIG. A sheet with set conditions may be provided and used properly according to the area of the structure S to be drilled, the position of the embedded reinforcing bar, and the like.

In addition, the drilling conditions are not limited to the conditions described above. A predetermined time for determining that the hole is in progress, etc.) may be set. Furthermore, it goes without saying that numerical values such as the number and positions of holes to be drilled can be freely set according to the structure S to be drilled. Also, the drilling position may be set at a distance from the hole drilled immediately before.

FIG. 16 shows a history file (1)F as an example of drilling results drilled based on the drilling condition sheet Sh1 of the present embodiment.

As shown in the figure, the history file (1) F contains drilling start time, drilling time, drilling number, sheet number (number of drilling condition sheet Sh), elevation setting value, elevation completion value, movement setting value, movement completion value, distance measurement value to the drilling surface, drilling depth set value, drilling depth completion value and judgment are displayed. In addition, "judgment" is a judgment of whether or not a hole of the set drilling depth could be drilled. In case (NG), "2" is displayed. In the illustrated case, the drilling number 103 is displayed as "2". Note that the display items of the history file F are not limited to these, and some of these items may be omitted, or items other than the above-described items may be displayed. Further, in the present embodiment, the holes determined as "2" are shaded so that they can be confirmed at a glance. In this way, it is desirable that "1" and "2" can be distinguished by shading or color coding for the convenience of the operator in confirming the determination.

Now, as shown in FIG. 16, when there is "2" in the determination column of the history file (1)F, that is, when there is a hole that could not be drilled to the set drilling depth, the drilling condition sheet Sh1 is updated. , re-drilling is performed. That is, as shown in the updated drilling condition sheet Shr1 in FIG. 17, a check mark is put in the "no drilling" column of the drilling number 103, and as will be described later, while the hammer drill 1 is in the middle of drilling, the reinforcing bar, etc. Since it is considered that the determination is "2" due to interference with the , the elevation setting value (vertical direction) and the movement setting value (horizontal direction) are each increased by 10 mm. As a result, the hole with the drilling number 103 is reset to be drilled 10 mm below and 10 mm to the right of the initially set position. The direction in which the drilling position is shifted is not limited to this embodiment, and it may be shifted only in the vertical direction or only in the horizontal direction. Also, the amount of displacement of the drilling position need not be 10 mm, and may be 5 mm, for example. Further, the positions and numerical values for shifting the drilling positions may be automatically performed using AI (Artificial Intelligence) or the like.

When the updated drilling condition sheet Shr1 shown in FIG. 17 is stored in the drilling condition storage part PCm1, the control part C reads it, and the drilling number 103 with a check mark in the "no drilling" column is checked. Only re-drilling is done. An example of the history file (2)F at this time is shown in FIG. As shown in the figure, the "judgment" column of the history file (2)F is all "1", indicating that all the holes have been drilled to the set drilling depth. This completes drilling. If there is a hole for which the "judgment" column of the history file (2)F is "2" even after re-drilling and the set drilling depth could not be drilled, the history file F Until all the "judgment" columns of are set to "1", the updating of the drilling condition sheet Sh corresponding to the judgment "2" and the drilling are repeated.

As described above, the control unit C reads the drilling condition sheet Sh input (set) by the input/output unit PC and stored in the drilling condition sheet storage unit PCm1, and drives the drilling device A1. Controls drilling in the vertical direction. Further, it acquires a drilling result based on the detection information from the drilling state detection unit SS, and controls transmission of the drilling result to the input/output unit PC.

Here, returning to FIG. 11, the control unit C controls the elevation motor 13 for raising and lowering the elevation table 14 on which the hammer drill 1 is installed, the drill driving motor 1b for driving the hammer drill 1, and the air cylinder for moving the hammer drill 1 forward and backward. 1c, a pneumatic operating portion 1d for operating the power switch of the hammer drill 1, and a geared motor 28 for moving the drilling device A1. Therefore, once the drilling device A1 is installed at a predetermined position, the drilling is automatically executed by the controller C according to the setting of the drilling condition sheet Sh. Further, the manual operation unit MU enables the operation of the lifting motor 13, the drill driving motor 1b, the air cylinder 1c, the air cylinder 1c, the pneumatic operation unit 1d, and the geared motor 28. Therefore, by operating the manual operation unit MU, the operator can drill a hole desired by the operator in addition to drilling by the control unit C.

The drilling state detection unit SS for detecting the drilling state of the drilling device A1 includes an elevation position detection unit SSa for detecting the elevation position of the hammer drill 1, Drilling surface distance detection unit SSb for detecting the distance from the wall surface (drilling surface) (the distance between the drilling device A1 based on the advance length of the hammer drill 1 and the drilling surface), the depth of the drilled hole ( drilling depth), and a moving distance detecting unit SSd for detecting the moving distance of the drilling device A1. Incidentally, the moving distance of the drilling device A1 is detected by the number of pulses sent from the rotary encoder 31, as described above.

As described above, the drilling state of the drilling device A1 detected by the drilling state detector SS is transmitted to the controller C. FIG. Then, the control unit C obtains (calculates) the drilling result for the structure S by the drilling device A1 from various detection information transmitted from the drilling state detection unit SS, and outputs it to the input/output unit PC. and stored in the drilling result storage unit PCm2.

Here, in the control unit C of the present embodiment, when it is determined that the hammer drill 1 cannot drill a hole of the set drilling depth during drilling of the structure S, the drilling is stopped. control to drill the next hole.

That is, as shown in FIG. 19, embedded objects such as reinforcing bars B and piping (hereinafter referred to as "reinforcing bars, etc.") are arranged inside the concrete structure S, so the hammer drill 1 (more specifically, If the bit 1a) at the tip of the hammer drill 1 interferes with a reinforcing bar or the like during drilling, drilling cannot be carried out any further. In addition, FIG. 19 shows the reinforcing bars B arranged in the horizontal direction, and therefore the cross section is circular.

Therefore, in the control unit C, the stroke (advance length) of the hammer drill 1 reaches a predetermined dimension (“drilling depth set value” set in the drilling condition sheet Sh) based on the detection information transmitted from the drilling state detection unit SS. If it does not reach, it is judged that the hole H with the drilling depth set in the drilling condition sheet Sh cannot be drilled due to interference of the hammer drill 1 with the reinforcing bar or the like, and the drilling is stopped. Pull out and drill the next hole. Drilling results of a plurality of holes drilled in this way (holes that could be drilled to the depth set in the drilling condition sheet Sh and holes that could not be drilled to the depth set in the drilling condition sheet Sh) The drilling results are stored in the drilling result storage unit PCm2.

After the drilling is completed, the operator operates the input/output unit PC to set the drilling conditions based on the drilling results stored in the drilling result storage unit PCm2 (that is, the latest drilling results). The drilling condition sheet Sh is updated and stored in the drilling condition sheet storage part PCm1 so that the drilling position is shifted and drilled only for the holes that could not be drilled to the depth set in the sheet Sh. .

Therefore, next time, the updated drilling condition sheet Sh stored in the drilling condition sheet storage unit PCm1 is read, and the depth set in the drilling condition sheet Sh in the previous drilling could not be drilled. Only holes will be drilled.

Here, in the present embodiment, whether or not a hole of the set drilling depth can be drilled is determined based on the stroke of the hammer drill 1, but other criteria may be used for determination. For example, a detection unit is provided to detect the pressing pressure (feed pressure) of the bit 1a attached to the hammer drill 1, and a hole is drilled to a set drilling depth based on the pressing pressure detected by the detection unit. It is conceivable to judge whether or not the That is, when the detected pressing pressure is equal to or higher than a predetermined pressure, it is determined that the hammer drill 1 has interfered with a reinforcing bar or the like and that a hole of the set drilling depth cannot be drilled.

Next, a process for automatically drilling a hole H (here, a hole H for inserting a shear reinforcing bar R) in a concrete structure S using the drilling system A having the above configuration. , will be described with reference to the flow chart of FIG. Here, under the conditions set in the drilling condition sheet Sh1 shown in FIG. 13, drilling is performed in the left column in FIG. 12, and drilling is performed up to the right column while moving the drilling device A1 to the next column. and It is assumed that the drilling speed of the hammer drill 1, the time (predetermined time) for judging whether the drilling is progressing or stagnant, etc. are set as default values.

First, the operator inputs drilling conditions into the drilling condition sheet Sh1 (step St01). In this embodiment, the necessary numerical values displayed on the input screen are set. After setting the numerical values, the drilling condition sheet Sh1 is stored in the drilling condition sheet storage unit PCm1 (step St02). In this embodiment, the data is stored by clicking a "write" button (not shown) displayed on the input screen.

Next, by the control unit C, the drilling condition sheet Sh1 stored in the drilling condition sheet storage unit PCm1 (that is, the positions of the plurality of holes to be drilled in the structure S (elevating setting values), drilling depth, etc. drilling conditions) are read (step St03).

When the process from numerical setting to reading of the drilling condition sheet Sh1 is completed, the geared motor 28 is rotated to run the drilling device A1 along the guide rail 33, and the drilling device A1 is installed at a predetermined position of the structure S. The motor 13 is rotated to move the hammer drill 1 to the initial drilling position (step St04). Then, the drive of the dust collector 37 is started (step St05). Note that the order of steps St04 and St05 may be reversed, and the installation of the drilling device A1 and the movement of the hammer drill 1 may be performed after the dust collector 37 is started to be driven.

After the hammer drill 1 is moved to the initial drilling position in this manner, the drilling operation is automatically executed from the next step St06 by the controller C having read the drilling condition sheet Sh1.

First, before actually drilling with the hammer drill 1, the distance between the hammer drill 1 and the drilling surface (structure surface at the position of the hole to be drilled) is measured (step St06). That is, when the hammer drill 1 advances while the rotation of the bit 1a is stopped and there is no advance for a certain period of time (that is, when the advance of the hammer drill 1 stops), the hammer drill 1 (more specifically, the bit attached to the hammer drill 1) 1a) is in contact with the drilling surface. Then, the amount of extension of the hammer drill 1 at the forward position is detected by the drilling surface distance detecting section SSb, and is taken as the distance between the hammer drill 1 and the drilling surface. In the present embodiment, the distance is measured by a position sensor that detects the forward/backward position of the slide guide 2b. may be measured by

In addition, in the drilling system A of the present embodiment, the distance between the hammer drill 1 and the drilling surface is measured for each drilling. Prior to drilling, the surface of the structure S is cleaned with high water pressure. However, if the distance to the surface of the structure S is measured only once and the drilling is performed based on the measured value, there will be holes that are not drilled to the specified drilling depth, resulting in a decrease in drilling accuracy. It is from. In addition, since it is difficult to lay the guide rail 22, which has a guide function during running of the drilling device A1, in parallel with the structure S, similarly, the hammer drill 1 and the structure S measured only once If the drilling is performed based on the distance from , there will be holes that are not drilled to the specified drilling depth, and the drilling accuracy will be lowered.

However, unlike the present embodiment, the distance between the hammer drill 1 and the drilling surface is not measured for each drilling, but for each drilling for a plurality of times or for each movement of the drilling device A1. (That is, before the first drilling in the line to be drilled), detection by the drilling surface distance detection unit SSb may be performed, and drilling may be performed based on the detection result. Alternatively, instead of the drilling surface distance detection unit SSb, a wall surface distance detection unit for detecting the distance between the drilling device A1 and the wall surface of the structure S is provided, and the wall surface is detected before the drilling device A1 starts drilling. Detection by a distance detection unit may be performed, and drilling may be performed based on the detection result.

After measuring the distance between the hammer drill 1 and the drilling surface in step St06, the driving of the hammer drill 1 is started (step St07).

Next, the hammer drill 1 is advanced to start drilling (step St08). That is, the slider 2a is slid along the slide guide 2b by the air cylinder 1c to move the hammer drill 1 forward, and the bit 1a at the tip of the hammer drill 1 is pressed against the drilling position of the structure S to start drilling.

After drilling is started, it is determined whether the drilling speed is equal to or higher than a set value based on the change in the depth of the hole detected by the drilling depth detection unit SSc (step St09).

If it is determined in step St09 that the drilling speed is equal to or higher than the set value, it means that the drilling is being performed smoothly. drilling is continued until it is detected that the set value set in 1 is reached (step St10). Then, in step St10, when it is determined that the drilling depth has reached the set value, the drilling results (drilling execution values such as the actual drilling position and drilling depth, and drilling success and result of determination) is stored in the drilling result storage unit PCm2 (step St11). The forward movement of the hammer drill 1 is stopped when it is determined in step St10 and step St14 described later that the drilling depth has reached the set value.

On the other hand, if it is determined in step St09 that the drilling speed is not equal to or higher than the set value, the drilling speed is less than the set value for some reason (for example, the hardness of the structure S), but the set drilling speed Since there is a possibility that the drilling is in progress toward the hole depth, the drilling time is measured (step St12), and it is determined whether or not the drilling depth has changed within a predetermined time (step St13).

Then, in step St13, if it is determined that the drilling depth has not changed within the predetermined time, the bit 1a attached to the tip of the hammer drill 1 hits the reinforcing bar or the like in the structure S, resulting in the drilling. Since the hole is stagnant, drilling is stopped and the drilling results (drilling execution values such as the actual drilling position and drilling depth, and the judgment result of "drilling failure") are displayed. Stored in the drilling result storage unit PCm2 (step St11).

If it is determined in step St13 that the drilling depth has changed within the predetermined time, it is determined whether the drilling depth detected by the drilling depth detection unit SSc has reached a set value. (Step St14), when it is determined that the drilling depth has reached the set value, the drilling results (drilling execution values such as the actual drilling position and drilling depth, and "drilling success") determination result) is stored in the drilling result storage unit PCm2 (step St11). On the other hand, if it is determined in step St14 that the drilling depth has not reached the set value, drilling is stopped and the drilling result (actual drilling position, drilling depth, etc.) is The execution value and the determination result of "drilling failure") are stored in the drilling result storage unit PCm2 (step St11).

After the drilling result is stored in the drilling result storage unit PCm2 in step St11 in this way, the hammer drill 1 is retracted (retracted to such an extent that the bit 1a at the tip of the hammer drill 1 is pulled out from the structure S) and driven. is stopped (step St15).

Next, it is determined whether or not the drilling of one row in the vertical direction has been completed in the current drilling (step St16). The hammer drill 1 is moved to the set next drilling position (step St17), and the process proceeds to step St06. Then, the subsequent steps are executed sequentially. When the hammer drill 1 is moved, the hammer drill 1 is moved to the position set in the drilling condition sheet Sh1 by the elevation position detector SSa.

When it is determined in step St16 that the drilling of one row in the vertical direction has been completed, it is determined whether the drilling of this time is the last drilling of the drilling condition sheet Sh1 (step St18). Then, if the drilling condition sheet Sh1 is not the last hole to be drilled, the geared motor 28 is driven to detect the drilling device A1 by the moving distance detection unit SSd, and the drilling device A1 is moved to the next drilling row. (step St19). Then, the hammer drill 1 is moved to the drilling position by the elevation position detector SSa (step St20), and the process proceeds to step St06.

On the other hand, when it is determined in step St18 that the drilling of this time is the last drilling of the drilling condition sheet Sh1, the dust collector 37 is stopped (step St21) and stored in the drilling condition sheet storage unit PCm1. A history file F, which is a list in which the obtained drilling condition sheet Sh1 and the drilling results stored in the drilling result storage unit PCm2 in step St11 are compared, is output (step St22). Note that the dust collector 37 may be stopped after it is determined that there is no hole unsuitable for the drilling conditions in the next step St23.

Next, from the output history file F, it is determined whether or not there is a hole that does not conform to the drilling conditions (a hole determined as "drilling failure") (step St23). In the present embodiment, as described above, based on the drilling condition sheet Sh1 stored in the drilling condition sheet storage unit PCm1 and the drilling result stored in the drilling result storage unit PCm2, The judgment is displayed in the history file F, but if there is no "judgment" item, the operator makes the judgment.

If it is determined in step St23 that there is a hole that does not conform to the drilling conditions set in the drilling condition sheet Sh1, the drilling condition sheet Sh1 is updated based on the drilling results (step St24). . In the present embodiment, as described above, the drilling number 103 is a drilling failure, which is a hole that does not meet the drilling conditions. It is assumed that the reason why a hole that meets the drilling conditions could not be drilled was that the bit 1a attached to the tip of the hammer drill 1 hit a reinforcing bar or the like in the structure S. When updating the condition sheet Sh1, the drilling position is shifted by a predetermined amount from the design drawing, etc., considering the position of the reinforcing bar. Here, as shown in FIG. 17, a check mark is put in the "no drilling" column of the drilling number 103, the elevation setting value is increased by 10 mm to 410 mm, and the movement setting value is similarly increased by 10 mm to 210 mm. . Although the drilling condition sheet Sh1 is also updated by the operator in this embodiment, it may be automatically updated as described above.

After the drilling condition sheet Sh1 is updated in step St24, the updated drilling condition sheet Shr1 is stored in the drilling condition sheet storage unit PCm1 (step St25). Thereafter, the controller C reads the updated drilling condition sheet Shr1 from the drilling condition sheet storage unit PCm1 (step St26). Then, the drilling device A1 is moved and installed at a predetermined position so that the hammer drill 1 comes to the drilling position of the updated drilling number 103 (the position of the hole to be re-drilled), and the hammer drill 1 is moved up and down. It moves to the drilling position (step St27), and proceeds to step St05 described above. Note that if the dust collector 37 is not stopped at step St21, but is stopped after it is determined at step St23 that there is no hole unsuitable for the drilling conditions, the hammer drill 1 is moved to the drilling position at step St27. If so, the process proceeds to step St06.

Now, in step St23, if it is determined that there is no hole that does not conform to the drilling conditions set in the drilling condition sheet Sh1 (a hole that was not drilled to the set position or depth), all drilling Assuming that the hole is complete, it ends.

As described above, in the present embodiment, under the control of the control unit C, the drilling sequence, drilling positions, and drilling positions for a plurality of holes drilled in each column in the vertical direction in the concrete structure S The drilling condition sheet Sh in which the drilling conditions including the depth are set is read, and based on the drilling condition sheet Sh, the hammer drill 1 is raised and lowered to drill a row in the vertical direction, and then the drilling device A1 is operated. After moving to the next drilling position, the hammer drill 1 is moved up and down again to drill a row in the vertical direction. Further, for a hole in which the hammer drill 1 could not drill a hole with a depth suitable for the drilling conditions, the drilling is stopped and the next hole is drilled in the order of drilling. Then, if there is a hole that could not be drilled to a depth that matches the drilling conditions, the drilling condition sheet Sh is updated so that the hole is limited to the hole and drilled by shifting the drilling position. The hole is re-drilled based on the

As a result, it becomes possible to automatically drill a plurality of holes in the concrete structure S in accordance with the drilling conditions.

Although the invention made by the present inventor has been specifically described based on the embodiments, the embodiments disclosed in this specification are illustrative in all respects and are limited to the disclosed technology. isn't it. That is, the technical scope of the present invention should not be construed in a restrictive manner based on the description of the above embodiments, but should be construed according to the description of the scope of claims. All modifications are included as long as they do not deviate from the description technology and equivalent technology and the gist of the claims.

For example, in the present embodiment, the drilling pattern (vertical priority drilling pattern) is set such that the hammer drill 1 is lifted and lowered by the lifter 10 and the holes are drilled one row at a time in the vertical direction. Instead of such a vertical priority drilling pattern, for example, without moving the hammer drill 1 up and down, the drilling device A1 is moved along the structure S to drill one row in the horizontal direction first, and then the hammer drill is moved. The drilling pattern can be freely set, such as setting a drilling pattern (horizontal preferential drilling pattern) in which the row above or below is drilled sequentially by raising or lowering.

Moreover, in the present embodiment, the hammer drill 1 is used as the drilling machine, but the drilling machine is not limited to this. That is, various drilling machines capable of drilling the concrete structure S, such as a core drill that drills by rotating a rod having a cylindrical sawtooth bit attached to its tip, can be applied.

In the above description, the case where the drilling system of the present invention is used for drilling holes for inserting shear reinforcing bars in an existing concrete structure is shown, but it is not limited to this. It can be widely applied to drilling of concrete structures.

1 Hammer drill (drilling machine)
1a Bit 1b Drill drive motor 1c Air cylinder 1d Pneumatic operating unit 2 Retractable member 2a Slider 2b Slide guide 10 Lifter 12 Lifting mast 13 Lifting motor 14 Lifting table 20 Chassis 22 Guide rail 24 Outrigger 26 Caster 27 Pinion gear 28 Geared Motor (running motor)
31 rotary encoder 32 pinion gear 33 guide rail 34 rack gear 35 holding roller 36 air compressor 37 dust collector A drilling system A1 drilling device A2 guide means B reinforcing bar C controller CP compressor F history file, history file (1), history file ( 2)
H Hole MU Manual operation unit PC Input/output unit PCm1 Drilling condition sheet storage unit PCm2 Drilling result storage unit R Shear reinforcement reinforcing bar Sh, Sh1, Sh2, Sh3 Drilling condition sheet Shr1 Updated drilling condition sheet S Structure SS Drilling state detection unit SSa Lifting position detection unit SSb Drilling surface distance detection unit SSc Drilling depth detection unit SSd Movement distance detection unit

Claims (15)

A drilling condition for setting a drilling condition including a drilling order, a drilling position and a drilling depth for a plurality of holes to be drilled for each row in the vertical direction or for each row in the horizontal direction in a concrete structure an input unit into which a sheet is input;
a drilling condition sheet storage unit for storing the drilling condition sheet input by the input unit;
a drilling device in which a drilling machine for drilling the structure is mounted so as to be able to move up and down by a lifting motor, and is guided by a guide rail by a traveling motor to move along the structure;
An elevation position detection unit that detects the elevation position of the drilling machine, a drilling depth detection unit that detects the drilling depth by the drilling machine, and a movement distance detection unit that detects the movement distance of the drilling device. a drilling state detector comprising
The drilling condition sheet in the drilling condition sheet storage unit is read, and the drilling machine is lifted and lowered by the lift motor and the drilling device is moved by the travel motor based on the drilling state detection unit. While performing control to sequentially drill holes by the drilling machine, and for a hole detected by the drilling state detection unit that the drilling machine cannot drill a hole with a depth that conforms to the drilling conditions, a control unit that performs control to stop drilling and drill holes in the next drilling order;
a drilling result storage unit for storing drilling results by the drilling device;
In the input unit, if there is a hole that could not be drilled to a depth that meets the drilling conditions in the drilling result stored in the drilling result storage unit, the drilling result is limited to the hole. The drilling condition sheet updated to drill is input,
A drilling system characterized by: The drilling state detection unit further includes a drilling surface distance detection unit that detects the distance between the drilling device and the surface of the structure at the position of the hole to be drilled in the structure,
The control unit is configured to perform drilling by the drilling machine based on the detection result of the drilling surface distance detection unit each time the drilling machine drills one time or a plurality of times or each time the drilling device moves. perform hole control,
2. The drilling system according to claim 1, wherein: The drilling state detection unit further includes a wall surface distance detection unit that detects the distance between the drilling device and the wall surface of the structure,
The control unit controls drilling by the drilling machine based on the detection result of the wall surface distance detection unit detected prior to the start of drilling by the drilling device.
2. The drilling system according to claim 1, wherein: The input unit receives the drilling condition sheet updated so that the hole is drilled by shifting the drilling position in at least one of vertical and horizontal directions.
The drilling system according to any one of claims 1 to 3, characterized in that: The drilling state detection unit allows the drilling machine to drill a hole that meets the drilling conditions when the drilling depth has not reached a set value within a predetermined time or when drilling has stagnated. decide that it is not possible to
The drilling system according to any one of claims 1 to 4, characterized in that: an output unit that compares and outputs a plurality of the drilling condition sheets stored in the drilling condition sheet storage unit and the drilling results stored in the drilling result storage unit;
The drilling system according to any one of claims 1 to 5, characterized in that: The output unit also outputs a determination result of a hole that conforms to the drilling condition and a hole that does not conform to the drilling condition.
7. The drilling system according to claim 6, characterized in that: A plurality of the drilling condition sheets are provided in a selectable manner,
The drilling system according to any one of claims 1 to 7, characterized in that: A drilling method for automatically drilling a plurality of holes in a structure made of concrete by using a drilling device in which a drilling machine for drilling a structure made of concrete is movable up and down and is movable along the structure. and
an inputting step of inputting a drilling condition sheet including a drilling sequence, a drilling position and a drilling depth for a plurality of holes to be drilled for each row in the vertical direction or for each row in the horizontal direction in the structure;
a drilling condition sheet reading step of reading the drilling condition sheet input in the input step;
Based on the drilling condition sheet read in the drilling condition sheet reading step, the drilling machine is sequentially drilled while repeating the elevation of the drilling machine and the movement of the drilling device, and the drilling is performed. a drilling step of stopping drilling for a hole in which the machine cannot drill a hole to a depth that conforms to the drilling conditions and drilling the next hole in the order of drilling;
a drilling result storage step of storing a drilling result by the drilling device;
In the input step, if there is a hole in which the drilling result stored in the drilling result storage step cannot be drilled to a depth that matches the drilling condition, the drilling is limited to the hole. Entering the updated drilling condition sheet for drilling;
A drilling method characterized by: In the drilling step, the drilling device and the structure at the position of the hole to be drilled in the structure each time drilling is performed once or more by the drilling machine or each time the drilling device is moved. drilling by detecting the distance to the surface,
10. The drilling method according to claim 9, characterized in that: In the drilling step, the hole is drilled by the drilling machine based on the detection result of the distance between the drilling device and the wall surface of the structure, which is detected prior to the start of drilling by the drilling device. The drilling method according to claim 9. In the inputting step, the drilling condition sheet updated to shift the drilling position in at least one of the vertical direction and the horizontal direction and drilling is input.
The drilling method according to any one of claims 9 to 11, characterized in that: In the drilling step, drilling is stopped when the drilling depth does not reach a set value within a predetermined time, or when drilling stagnates.
The drilling method according to any one of claims 9 to 12, characterized in that: An output step of comparing and outputting the drilling condition sheet read in the drilling condition sheet reading step and the drilling result stored in the drilling result storage step,
The drilling method according to any one of claims 9 to 13, characterized in that: In the outputting step, the determination result of the hole that conforms to the drilling condition and the hole that does not conform to the drilling condition sheet are output together.
15. The drilling method according to claim 14, characterized in that:

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