JP7445221B2 - hole drilling equipment - Google Patents

Description

The present invention relates to a drilling device. More specifically, in a drilling device that drills a hole in the ground to a predetermined depth while adding double-pipe tools consisting of an inner pipe and an outer pipe, the connection of the double-pipe tools to a rotary drive device and the process from drilling to the double-pipe tools This invention relates to a drilling device that automates a series of drilling processes related to replenishment and removal of pipes.

Conventionally, as a method of drilling a hole in the ground, a rotary percussion method is widely known in which the hole is drilled while applying rotational force and striking force. This rotary percussion method has the advantage of being able to drill holes not only in sand and boulder layers, but also in bedrock, since hard rock is crushed by impact force.
Therefore, rotary percussion is used as a drilling method in slope disaster prevention construction techniques, such as ground anchor work, which is one of the landslide prevention works, or horizontal boring, which is one of the landslide prevention works, or as a method for stabilizing the face in tunnel construction. It is widely used as a drilling method in the chemical injection method, which is one of the methods.

To briefly explain the drilling process using rotary percussion, first, a double pipe tool (or "double pipe rod") consisting of an outer casing and an inner rod is connected to a rotation drive device (or swivel head). Then, a hole is drilled in the ground while applying a striking force to the double pipe tool by the rotational drive device and applying rotational force by the rotational drive device. The hole is then drilled to a predetermined depth while supplementing with double pipe tools. When the double pipe tools reach the target depth, the drilling is completed.

After drilling is complete, remove all inner rods. After that, all the outer casings are removed and construction is completed.

JP2020-51232A Japanese Patent Application Publication No. 2008-150773

Until now, in the above-mentioned double pipe replenishment process, the connection of the double pipe tools to the rotary drive device was done by connecting the leader device at an angle (for example, in ground anchor work for landslide prevention work, the depression angle of the double pipe tools in the drilling direction was 90°). On the other hand, in horizontal boring work for landslide prevention works, the depression angle in the drilling direction using double pipe tools is 30°. I was working on aligning and connecting pipe tools and rotary drive equipment. Double pipe tools are heavy, weighing at least 40 kg, and have a long overall length of at least 1 m, so it takes a lot of effort to manually align and connect the double pipe tools to the rotary drive device. There is a danger of being caught in the rotational drive device.

In addition, when connecting the double pipe tools (double pipe tools on the drilling side) that have penetrated underground to the double pipe tools attached to the rotary drive device (double pipe tools on the rotary drive device side), While lowering the inner rod on the rotary drive device side using a leader device, the operator manually performed centering work for the inner rod on the device side with respect to the axis of the inner rod on the drilling side.

Additionally, workers in civil engineering work in general are getting older, and there are fewer craftsmen with advanced skills to operate drilling machines, such as drilling holes for insertion of anchors, and fewer drilling assistants to perform attachment and detachment. .

Therefore, the present invention has been made in view of the above-mentioned problems of the prior art, and its purpose is to provide a drilling device for drilling a hole in the ground to a predetermined depth while adding double pipe tools consisting of an inner pipe and an outer pipe. An object of the present invention is to provide a drilling device that automates a series of drilling steps related to connecting double pipe tools to a rotation drive device and drilling, replenishing the double pipe tools, and removing the pipe.

To achieve the above object, a drilling device according to the present invention is a rotary drilling device that rotates and penetrates a double pipe (1) consisting of an inner pipe (1a) and an outer pipe (1b) into at least underground, rock, and structures. A drive device (40), a leader device (30) that guides the double pipe (1) in an arbitrary construction direction while supporting the rotary drive device (40), and a leader device (30) that guides the double pipe (1) in a predetermined construction direction. an axis adjusting device (20) capable of adjusting the double tube (1) in the direction of the arrow and rotating the double tube (1); (1), which is provided below the leader device (30) to grip the inner tube (1a) and to hold the inner tube (1a) against each other or the outer tube. a first gripping mechanism (71) that loosens the screw connection between the tubes (1b); a second gripping mechanism (72) that is provided below the first gripping mechanism (71) and grips the inner tube (1a); A third gripping mechanism (73) that is provided below the second gripping mechanism (72) and grips the outer tube (1b), and command values for at least the rotation drive device (40) and the reader device (30). or a data input device (81) for inputting a target depth for drilling depth, and at least the double pipe stock device (10), the axis adjustment device (20), the leader device (30), and the rotation. The drilling device includes a mechanical control section (82) that individually controls the drive device (40), the mechanical control section (82) controlling the rotary drive device (40) on the leader device (30). ), a stock device-side rod detection device that detects the presence of the double pipe (1) in the double pipe stock device (10), and a feed position detection means for detecting the position of the double pipe stock device (10); ) for detecting the presence of the double pipe (1) in the shaft center adjustment device (20); ) or a turning position detection means for detecting which side of the reader device (30) the reader device (30) is located.

In the above configuration, the machine control unit (82) uses the feed position detection means to detect the double pipe based on the position of the rotary drive device (for example, the inner rod threading possible position, the outer casing threading possible position, the lifting stop depth, etc.). It becomes possible to suitably control the replenishment or extubation of (1).

The machine control unit (82) also uses the rod detection means and rotation position detection means to determine the replenishment state of the double pipe (1) in the axis adjustment device (20) and the double pipe stocking device (10). It becomes possible to suitably control the stock condition of each heavy pipe (1).

A second feature of the drilling device according to the present invention is that the machine control unit (82) detects the first gripping mechanism rod to detect the presence of the double pipe (1) in the first gripping mechanism (71). and second gripping mechanism rod detection means for detecting the presence of the double pipe (1) in the second gripping mechanism (72).

With the above configuration, the mechanical control unit (82) can suitably control the removal of the double pipe (1) based on the position of the rotary drive device.

A third feature of the drilling device according to the present invention is that the machine control unit (82) controls the leader device (30) from the drilling start position to the feed lower limit position in the automatic drilling mode. Abnormality determination processing for all or part of the feed pressure, the feed rate, the flow rate of drilling water, the water pressure, the rotational pressure of the rotary drive device (40), and the elapsed time after the start of drilling; When an abnormality is detected, the system is configured to individually and repeatedly perform abnormality countermeasure processing to eliminate the abnormality.

In the above configuration, the machine control unit (82) individually and repeatedly performs the above abnormality determination processing and abnormality countermeasure processing, so that the double pipe (1) reaches the feed lower limit position from the drilling start position. , it becomes possible to automate hole drilling equivalent to that performed by craftsmen.

A fourth feature of the drilling apparatus according to the present invention is that the mechanical control section (82) is configured to control the double pipe stocking device (10) for raising and lowering the double pipe (1) during transfer of the double pipe (1). The upper possible raising/lowering position is stored in advance.

With the above configuration, the double pipe (1) can be automatically transferred (replenished) from the double pipe stock device (10) to the axis adjustment device (20) regardless of the construction position of the leader device (30). At the same time, it becomes possible to automatically transfer (take out) the double pipe (1) from the axis adjustment device (20) to the double pipe stock device (10).

A fifth feature of the drilling device according to the present invention is that the machine control unit (82) is configured such that the first gripping mechanism (71) fixes the inner rotation end (40a) of the rotation drive device (40) and The "inner rod threading possible position" of the rotary drive device (40) in which the second gripping mechanism (72) can fix the inner tube (1a), and the first gripping mechanism (71) that is connected to the rotary drive "Outer casing threading is possible" according to the rotary drive device (40) that fixes the outer rotary end (40b) of the device (40) and allows the third gripping mechanism (73) to fix the outer tube (1b). ``location'' is memorized in advance.

In the above configuration, the machine control unit (82) can loosen the screw connection between the inner rotation end (40a) and the inner tube (1a) or the screw connection between the inner tubes (1a), depending on the “inner rod threading possible position”. , it becomes possible to suitably control the addition of a new inner pipe (1a) to the inner pipe (1a) on the drilling side.

Similarly, the machine control unit (82) can loosen the screw connection between the outer rotation end (40b) and the outer tube (1b) or the screw connection between the outer tubes (1b), depending on the above-mentioned "outer casing thread cutting possible position"; It becomes possible to suitably control the addition of a new outer tube (1b) to the outer tube (1b) on the drilling side.

A sixth feature of the drilling device according to the present invention is that the mechanical control section (82) moves the inner tube (1a) connected to the rotational drive device (40) laterally while maintaining its height position. An "inner tube removal possible position" of the rotary drive device (40) that can be gripped by the axis adjustment device (20) when sliding a predetermined distance; The rotary drive device (40) can be gripped by the axis adjustment device (20) when the connected outer tube (1b) is slid laterally by a predetermined distance while maintaining its height position. ) is stored in advance.

In the above configuration, the mechanical control unit (82) adjusts the axis of the inner pipe (1a) or outer pipe (1b) that has been raised from the ground by the "inner pipe retrieval possible position" or "outer pipe retrieval possible position". It becomes possible to suitably control the transfer to the device (20).

A seventh feature of the drilling device according to the present invention is that the mechanical control unit (82) controls the inner pipe (1a) of the double pipe (1) when gripped by the axis adjustment device (20). The height position and the height position of the outer tube (1b) are stored in advance.

In the above configuration, the mechanical control unit (82) is required to screw the inner rotation end (40a) of the rotation drive device (40) and the inner tube (1a) depending on the “height position of the inner tube (1a)”. It becomes possible to calculate the amount of descent of the inner rotation end (40a). Similarly, the mechanical control unit (82) determines the height position of the outer tube (1b) necessary for screwing the outer rotation end (40b) of the rotational drive device (40) and the outer tube (1b). It becomes possible to calculate the amount of rise of the outer tube (1b).

An eighth feature of the drilling device according to the present invention is that the machine control unit (82) has an automatic drilling mode for automatically drilling holes in the target ground to a target depth, and a predetermined number of double pipes (1). There is an automatic rod replenishment mode in which rods are automatically added one after another until reaching 100, and an automatic rod replenishment mode in which only the inner pipe (1a) of the double pipe (1) penetrated into the ground is automatically pulled up one after another until the double pipe stock device (10 ), and of the double pipe (1) penetrated underground, only the outer pipe (1b) is automatically pulled up one after another and sequentially transferred to the double pipe stocking device (10). It has an automatic outer tube extubation mode for transferring.

In the above configuration, the machine control unit (82) has an automatic drilling mode, an automatic rod replenishment mode, an automatic inner tube removal mode, and an automatic outer tube removal mode, so that the It becomes possible to automate a series of drilling processes related to connection and drilling of the double pipe (1), replenishment of the double pipe (1), and removal of the pipe.

A ninth feature of the drilling device according to the present invention is that the machine control unit (82) controls the machine control unit (82) for a predetermined distance and number of times each time one double pipe (1) is rotated and penetrated to a predetermined depth. The purpose is to raise and lower the reader device (30) while rotating the rotation drive device (40).

With the above configuration, it is possible to prevent the double pipe (1) from clumping.

A tenth feature of the drilling device according to the present invention is that the machine control unit (82) loosens the screw fastening between the inner rotating end (40a) and the inner tube (1a) in the automatic inner tube removal mode. After that, the screws are tightened again with a predetermined rotational torque.

With the above configuration, the rotational torque of the rotational drive device (40) is suitably transmitted to the inner tube (1a(2)) located second from the inner rotation end (40a). Therefore, a machine is required to release the screw connection between the first inner tube (1a (1)) counting from the inner rotating end (40a) and the second inner tube (1a (2)) located below it. The control unit (82) can perform suitable control.

An eleventh feature of the drilling device according to the present invention is that the machine control section (82) loosens the screw fastening between the outer rotating end (40b) and the outer tube (1b) in the automatic outer tube extraction mode. After that, the screws are tightened again with a predetermined rotational torque.

With the above configuration, the rotational torque of the rotational drive device (40) is suitably transmitted to the outer tube (1b(2)) located second from the outer rotation end (40b). Therefore, the screw connection between the first outer tube (1b (1)) counted from the outer rotation end (40b) and the second outer tube (1b (2)) located below it is released by a machine. The control unit (82) can perform suitable control.

A twelfth feature of the drilling device according to the present invention is that the rotational drive device (40) has a striking device (40d) that applies impact force to the double pipe (1).

With the above configuration, it is possible to drill a hole to the target depth while applying percussion pressure by the striking device (40d) to the feed pressure of the leader device (30) in the automatic drilling mode.

A thirteenth feature of the drilling device according to the present invention is that the rotary drive device (40) is configured to discharge the rotary drive device (40) from between the inner tube (1a) and the outer tube (1b) of the double tube (1). A wastewater transfer means (115) for transferring the wastewater to the storage tank (110) can be connected, and a wastewater flow meter (116) for measuring the flow rate of the wastewater is connected to the wastewater transfer means (115). It is.

With the above configuration, the measurement signal regarding the drainage flow rate can be taken into the machine control section (82) to determine whether the drainage flow rate is good or bad. This makes it possible to suitably detect water leakage from the drainage system (115) that impedes the draining action of drilling water, thereby enabling stable automatic drilling.

A fourteenth feature of the drilling apparatus according to the present invention is that the storage tank (110) includes a liquid level meter (119) for measuring the water level of the drilling water, and a viscometer (117) for measuring the viscosity of the drilling water. Alternatively, some or all of the turbidity meters (118) that measure the turbidity of borehole water are connected.

With the above configuration, water loss in the drainage system (115) can be suitably detected by monitoring the water level of drilling water in the storage tank (110). Furthermore, through viscosity monitoring or turbidity monitoring of the borehole water, it is possible to suitably detect excessive contamination of the borehole water in the storage tank (110) that degrades the performance of the circulation pump (113). This makes it possible to stably supply good drilling water in automatic drilling mode.

A fifteenth feature of the drilling device according to the present invention is that each drilling command value for the leader device (30), the rotation drive device (40), the impact device (40d), and the water pump (112) is The machine control unit (82) is provided with ground-drilling command value data that is predefined according to the soil type, rock classification, and hardness of the soil.

In the above configuration, the drilling command value for each drive unit is determined according to the soil quality, rock classification, and hardness of the ground, so automatic drilling is performed while each drive unit is driven under optimal operating conditions. becomes possible.

A sixteenth feature of the drilling device according to the present invention is that each abnormal operation determination value for the leader device (30), the rotation drive device (40), the striking device (40d), and the water pump (112) is determined. The machine control unit (82) is equipped with ground-abnormal operation judgment value data that is predefined according to the soil quality and rock classification of the ground and its hardness.

In the above configuration, the abnormal operation judgment value for each drive unit is determined according to the soil quality, rock classification, and hardness of the ground, so automatic drilling can be performed without applying an excessive load to each drive unit. becomes possible.

A seventeenth feature of the drilling apparatus according to the present invention is that the machine control section (82) determines the size of the ground based on the particle size and particle size distribution of particles contained in the waste water transferred to the storage tank (110). It is to judge the soil quality.

With the above configuration, even if soil quality and rock classification data corresponding to the depth of the ground to be drilled cannot be obtained in advance, the soil quality and rock classification of the ground can be determined in real time while drilling in the ground. becomes possible.

An eighteenth feature of the drilling device according to the present invention is that the machine control section (82) determines the hardness of the ground based on the rotational torque or rotational pressure of the rotational drive device (40).

With the above configuration, even if hardness data about the ground to be drilled cannot be obtained in advance, it is possible to determine the hardness of the ground in real time while drilling a hole in the ground.

A nineteenth feature of the drilling device according to the present invention is that the drilling command value for the leader device (30), the rotary drive device (40), the impact device (40d), or the water pump (112) When the current value deviates from the abnormal operation determination value, the machine control unit (82) increases or decreases the drilling command value other than the drilling command value related to the current value so as not to deviate from the abnormal operation determination value. It is to control.

With the above configuration, even if data on the soil quality, rock classification, and hardness of the ground to be drilled cannot be obtained in advance, each drive unit is always driven under the optimal operating conditions and stable automatic drilling is possible. It becomes possible to perform holes.

According to the drilling device according to the present invention, in the drilling device that drills a hole in the ground to a predetermined depth while adding double-pipe tools consisting of an inner pipe and an outer pipe, the double-pipe tools are connected to a rotary drive device and It becomes possible to automate a series of drilling processes related to drilling, replenishment of double pipe tools, and pipe removal.

FIG. 1 is an explanatory diagram showing a hole drilling device according to an embodiment of the present invention. It is an explanatory view showing a rod stocker and a rod changer according to the present invention. FIG. 3 is an explanatory diagram showing the raising/lowering structure of the rod stocker according to the present invention. FIG. 3 is an explanatory diagram showing a gripping mechanism of the rod changer according to the present invention. FIG. 3 is an explanatory diagram showing an axial center adjustment structure for an inner rod of a rod changer according to the present invention. FIG. 2 is an explanatory diagram showing a connection structure between a rotational drive device and an outer casing. FIG. 3 is a flow diagram showing a series of rod exchange processes from when the double pipe rod is placed on the rod stocker until it is connected to the rotational drive device. It is an explanatory view showing a state where a double pipe rod is set in a rod stocker. It is an explanatory view showing a state where the rod stocker is raised to a predetermined position. It is an explanatory view showing a state where the outer casing is gripped by the upper and lower outer clamps. FIG. 3 is an explanatory diagram showing the axial center adjustment of the inner rod. It is an explanatory view showing a state where the swing bracket of the rod changer is turned from the rod stocker side to the leader device side. It is an explanatory view showing a state where the inner guide is opened and the rotational drive device is slid toward the rod changer side. It is an explanatory view showing the connection between the inner end of the rotary drive device and the inner rod of the double pipe rod. FIG. 3 is an explanatory diagram showing a state in which the outer casing is raised while being gripped by upper and lower outer clamps. It is an explanatory view showing the connection between the outer end of the rotary drive device and the outer casing of the double pipe rod. It is an explanatory view showing a V-shaped roller taper mechanism attached to the tip of the upper outer clamp cylinder. FIG. 2 is an explanatory diagram showing a hole drilling device in the vicinity of a centralizer in a state where an inner guide according to the present invention is closed. FIG. 2 is an explanatory diagram showing a hole drilling device in the vicinity of a centralizer in a state where the inner guide is open according to the present invention. FIG. 2 is an explanatory diagram showing a cross section of a main part of the centralizer when the inner guide according to the present invention is closed. FIG. 2 is an explanatory diagram showing a cross section of a main part of the centralizer when the inner guide according to the present invention is opened. FIG. 6 is an explanatory diagram showing a function of guiding the inner rod toward the opening by the centralizer according to the present invention. It is a block diagram showing the composition of the drilling control part which controls the automatic operation mode concerning the replenishment of the double pipe rod, and pipe removal from the drilling operation of the drilling device. FIG. 2 is an explanatory diagram showing the appearance of a management monitor section of a drilling control section. FIG. 3 is an explanatory diagram showing an automatic drilling preparation screen of the management monitor section. It is an explanatory view showing a monitor screen concerning construction data. It is a control flow diagram which shows automatic drilling mode (A mode) among the automatic operation modes of a drilling apparatus. FIG. 3 is a control flow diagram showing countermeasures against feed abnormality in automatic drilling mode (A mode). FIG. 3 is a control flow diagram showing measures against abnormal water flow rate in automatic drilling mode (A mode). FIG. 3 is a control flow diagram showing measures against water supply pressure abnormality in automatic drilling mode (A mode). FIG. 3 is a control flow diagram showing countermeasures against rotational pressure abnormality in automatic drilling mode (A mode). It is an explanatory view showing operation of double tube rod 1 in automatic drilling mode (A mode). It is an explanatory view showing outer casing thread cutting in the post-drilling processing operation of automatic drilling mode (A mode). FIG. 3 is an explanatory diagram showing inner rod thread cutting in a post-hole drilling operation in automatic drilling mode (A mode). It is a control flow diagram which shows the automatic rod replenishment mode (B mode) among the automatic operation modes of a drilling apparatus. It is a control flow diagram which shows the rod replenishment mode with a rod changer among the automatic rod replenishment modes (B mode). It is a control flow diagram which shows rod connection mode among automatic rod replenishment modes (B mode). It is an explanatory view showing feed rise of the rotary drive device after inner rod thread cutting and feed stop at the feed upper limit. FIG. 3 is an explanatory diagram showing the turning of the rod changer toward the leader device and the sliding movement of the rotary drive device toward the rod changer. FIG. 3 is an explanatory diagram showing the connection between the rotational drive device and the inner rod and the connection between the rotational drive device and the outer casing. FIG. 6 is an explanatory diagram showing the feed rise of the rotary drive device and the sliding movement of the rotary drive device toward the leader device after the inner rod and the outer casing are connected. It is an explanatory view showing the connection between the inner rod on the rotation drive device side and the first inner rod on the drilling side. It is an explanatory view showing the connection between the outer casing on the rotation drive device side and the first outer casing on the drilling side. It is a control flow diagram which shows the automatic inner rod tube removal mode (C mode) among the automatic operation modes of a drilling apparatus. FIG. 3 is a control flow diagram showing inner rod removal and inner rod thread cutting in the automatic inner rod removal mode (C mode). It is a control flow diagram which shows inner rod connection and transfer to a rod stocker in automatic inner rod tube removal mode (C mode). It is an explanatory view showing inner end screw loosening and inner rod pulling up operation. FIG. 7 is an explanatory diagram showing an operation of loosening the inner rod screw and re-screwing the inner end. FIG. 7 is an explanatory diagram showing the separation of the inner rod and the detection operation of the inner rod removal position. FIG. 3 is an explanatory diagram showing the rotation of the rod changer and the lateral sliding movement of the rotational drive device. It is an explanatory view showing thread cutting operation between an inner end and an inner rod. FIG. 7 is an explanatory diagram showing a re-screw fastening operation between the inner end and the inner rod. It is a control flow diagram which shows the automatic outer casing tube removal mode (D mode) among the automatic operation modes of the drilling device. It is a control flow diagram showing outer casing removal and outer casing thread cutting in automatic outer casing removal mode (D mode). It is a control flow diagram which shows outer casing connection and transfer to a rod stocker in automatic outer casing tube extraction mode (D mode). It is an explanatory view showing outer end screw loosening and outer casing pulling up operation. FIG. 6 is an explanatory diagram showing an operation of loosening the outer casing screw and re-screwing the outer end. FIG. 7 is an explanatory diagram showing the separation of the outer casing and the detection operation of the outer casing removal position. FIG. 3 is an explanatory diagram showing the rotation of the rod changer and the lateral sliding movement of the rotational drive device. It is an explanatory view showing thread cutting operation between an outer end and an outer casing. FIG. 7 is an explanatory diagram showing a re-screw fastening operation between the outer end and the outer casing. FIG. 3 is a control flow diagram showing an outer flushing operation in a post-drilling treatment operation. FIG. 3 is a control flow diagram showing an inner flushing operation in a post-drilling treatment operation. It is an explanatory view showing an outer flushing operation in a post-hole drilling processing operation. FIG. 3 is an explanatory diagram showing an inner flushing operation in a post-drilling treatment operation. FIG. 2 is an explanatory diagram showing a water supply/drainage system according to the present invention. It is a block diagram showing the composition of the drilling control part which monitors the drainage state of drilling water. FIG. 2 is an explanatory diagram showing an automatic drilling preparation screen of a management monitor unit that monitors the drainage flow rate of drilling water. FIG. 2 is a control flow diagram showing an automatic drilling mode (A mode) including an abnormality determination process regarding the drainage flow rate of drilling water. FIG. 2 is an explanatory diagram showing an example of ground-drilling command value data related to automatic drilling. FIG. 2 is an explanatory diagram showing an example of depth-ground data related to automatic drilling. FIG. 3 is an explanatory diagram showing an example of ground-abnormal operation determination value data related to automatic drilling.

Embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

FIG. 1 is an explanatory diagram showing a drilling device 100 according to an embodiment of the present invention. For convenience of explanation, FIG. 1 shows the reader device 30 in an upright position.

This drilling device 100 adjusts the axis of the double pipe rod 1 while maintaining the inclination angle of the leader device 30 as it is at any construction angle of the double pipe rod 1. The configuration is such that connection to and disconnection from the rotary drive device 40 can be performed automatically.

Therefore, this drilling device 100 includes a rod stocker 10 for storing the double-pipe rods 1, a rod stocker 10 for storing the double-pipe rods 1, a rotary drive device 40 for centering the double-pipe rods 1, and a rotary drive device 40 for centering the double-pipe rods 1. A rod changer 20 that positions the rod changer 20 on the core (on the axis), a leader device 30 that moves the rotary drive device 40 up and down along a predetermined direction, and a rotational force applied to the double tube rod 1 attached to the rotary drive device 40. A rotary drive device 40 that provides thrust and impact force, a structure 50 to which each element is attached, and a centralizer that positions the axis of the double pipe rod 1 attached to the rotary drive device 40 within a predetermined range. 60.

Note that "centering" as used herein means "positioning the double-pipe rod 1 so that the axis of the double-pipe rod 1 falls within a predetermined range." Further, the double tube rod 1 used in this embodiment is a double tube tool consisting of an outer casing 1b and an inner rod 1a (FIG. 4) placed in a free state within the outer casing 1b. Further, the rod stocker 10 will be explained in detail with reference to FIGS. 2 and 3. The rod changer 20 will be explained in detail with reference to FIGS. 2, 4 and 5.

Incidentally, the rod stocker 10 is integrated into the rod changer 20 via a support bracket 18 and a rod changer support 29 so as to be freely raised and lowered by a hydraulic cylinder 19. The rod changer 20 is integrated into the leader device 30 by an upper connecting member 28U and a lower connecting member 28L. The reader device 30 is attached to the body structure 50 so as to be able to rise and fall. Therefore, in this embodiment, the rod stocker 10 is integrated with the leader device 30 via the rod changer 20. The rod changer 20 is directly integrated into the reader device 30. That is, the rod stocker 10 and the rod changer 20 are configured to be raised and lowered in conjunction with the leader device 30. Each configuration will be explained below.

The leader device 30 moves the rotary drive device 40 up and down using a chain 31. The chain 31 is wound between a driving sprocket (not shown) and a driven sprocket (not shown) provided at both ends of the leader device 30, and is rotationally driven by a chain hydraulic motor 33. Further, a head slide mechanism 32 is provided that offsets the rotational drive device 40 in the lateral direction on the rod changer 20 side.

The leader device 30 is configured to be capable of standing up and tilting in the front and rear directions around a front and rear leader fulcrum (not shown) by means of a raising/lowering cylinder (not shown).

The rotation drive device 40 includes an inner end 40a connected to the inner rod 1a of the double pipe rod 1, an outer end 40b connected to the outer casing 1b, and two hydraulic motors that rotate the double pipe rod 1. 40c, 40c, and a hydraulic impact device 40d that applies an impact force to the double pipe rod 1.

FIG. 2 is an explanatory diagram showing the rod stocker 10 and rod changer 20 according to the present invention.
As shown in FIG. 2, the rod stocker 10 includes transfer chains 11, 11, a hydraulic motor 12 that drives the transfer chains 11, 11, and a double Stopper pins 13, 13 that prevent the tube rod 1 from falling off, a back frame 14 that pushes the double tube rod 1 from behind in the transfer direction, and an upper tube support bracket 15U that supports the upper side of the double tube rod 1. A lower tube support bracket 15L that supports the lower side of the double tube rod 1, an upper movement regulating plate 16U that restricts the upward movement of the double tube rod 1 in the longitudinal direction, and a downward movement of the double tube rod 1 in the longitudinal direction. a downward movement regulating plate 16L that regulates the movement of the pillar 16; a pillar 17 to which each element is attached; a pillar bracket 18 that supports the pillar 17 so as to be able to raise and lower (swing) and also supports the hydraulic cylinder 19; A hydraulic cylinder 19 is provided.

The support column 17 is arranged so as to be parallel to the swing bracket 26 of the rod changer 20, and is attached to the support bracket 18 so as to be able to rise and fall (swing). Rotating shafts 12a and 12b are arranged parallel to each other on both sides of the support column 17. Driving sprockets 12c are arranged at both ends of the outer rotating shaft 12a, and driven sprockets 12d are arranged at both ends of the inner rotating shaft 12b. The transfer chain 11 is wound around the driving sprocket 12c and the driven sprocket 12d so as to straddle the support 17. As a result, an endless chain type transfer means for transferring the double tube rod 1 to the rod changer 20 is constructed on the support 17.

Further, the hydraulic motor 12 and the hydraulic cylinder 19 are arranged outside the support column 17. Furthermore, by arranging the clamps 22, 23U, 23L of the rod changer 20, which always have an opening through which the double-tube rod 1 can pass, in a position where they do not interfere with the transfer chain 11 and the rotating shaft 12b of the rod stocker 10, It becomes possible to shorten the distance between the rod stocker 10 and the rod changer 20. Thereby, the double tube rod 1 can be smoothly transferred to the clamps 22, 23U, 23L of the rod changer 20 by the transfer chains 11, 11.

The upper and lower tube support brackets 15U and 15L are respectively provided with upwardly protruding protrusions 15U1 and 15L1 at the ends opposite to the rod changer 20 side. These protrusions 15U1, 15L1 make it possible to prevent the double pipe rod 1 from falling off from the upper and lower pipe support brackets 15U, 15L when the rod stocker 10 is placed in a horizontal state.

The upper movement regulating plate 16U and the lower movement regulating plate 16L have bent portions 16U1 and 16L1, respectively. This makes it possible to prevent the double tube rod 1 from separating from the column 17 when the column 17 supporting the double tube rod 1 is in a vertical or inclined state.

Therefore, when the double tube rod 1 is placed on the upper tube support bracket 15U and the lower tube support bracket 15L, the transfer chains 11,11 move the double tube rod 1 to a predetermined position. This "predetermined position" means a position where the double pipe rod 1 will not fall off from the rod stocker 10 even if the rod stocker 10 takes an arbitrary inclination angle. This means the position where both ends of the rod 1 coincide with the lower sides of the upper and lower bent portions 16U1 and 16L1. In this case, the double pipe rod 1 is stopped in the axial direction (longitudinal direction) by the upward and downward movement regulating plates 16U, 16L, and in the radial direction (lateral direction) by the stopper pins 13, 13 and the back frame 14. ing. Further, the out-of-plane direction of the double pipe rod 1 is restrained by upper and lower bent portions 16U1 and 16L1.

Further, the amount of movement of the transfer chain 11 is configured to be detected by an encoder (not shown) attached to the rotating shaft 12a of the hydraulic motor 12. Therefore, whether or not the double pipe rod 1 has arrived at the above-mentioned "predetermined position" is detected by this encoder.

FIG. 3 is an explanatory diagram showing the raising/lowering structure of the rod stocker 10 according to the present invention.
The rod stocker 10 has a tilting structure using a hydraulic cylinder 19, so that the support 17 can be horizontally maintained while maintaining the inclination angle of the leader device 30, regardless of the construction angle of the double pipe rod 1 (the inclination angle of the leader device 30). state, it becomes possible to receive a new double-tube rod 1 and to return the inclination angle of the support column 17 to the inclination angle of the leader device 30 (rod changer 20) after receiving the new double-tube rod 1. This makes it possible to center the subsequent double pipe rod 1 regardless of the construction angle of the double pipe rod 1 (the inclination angle of the leader device 30), and also makes it possible to center the double pipe rod 1 after centering. It becomes possible to connect the rod 1 to the rotary drive device 40. Note that the term "centering the double tube rod 1" as used herein refers to the positioning of both the inner "axial center positioning of the inner rod 1a" and the outer "axial center positioning of the outer casing 1b". are doing.

A vertical rib plate 17a is provided on the lower side of the rear portion of the column 17 (near the lower movement regulating plate 16L). This vertical rib plate 17a is provided with a connecting pin 17b that allows the support 17 to swingably integrate with the support bracket 18. On the other hand, the support bracket 18 is provided with a recess 18a into which the vertical rib plate 17a is fitted. The vertical rib plate 17a fits into the recess 18a when the hydraulic cylinder 19 operates, thereby preventing the column 17 from swinging laterally. Thereby, the support 17 on which the double pipe rod 1 is placed can be raised and lowered stably.

In the hydraulic cylinder 19, a rod 19a is swingably attached to a vertical rib plate 17a by a rod connecting pin 19c. On the other hand, the cylinder main body 19b is swingably attached to the support bracket 18 by a main body connecting pin 19d. Therefore, when the rod 19a of the hydraulic cylinder 19 extends, the support column 17 swings upward in the figure (stands up) using the connecting pin 17b as a fulcrum. On the other hand, when the rod 19a of the hydraulic cylinder 19 contracts, the support column 17 swings (tilts) up and down in the figure using the connecting pin 17b as a fulcrum. Therefore, when the rod stocker 10 receives the double tube rod 1, the hydraulic cylinder 19 will contract the rod 19a. On the other hand, when the rod stocker 10 transfers the double tube rod 1 to the inclined rod changer 20, the hydraulic cylinder 19 extends the rod 19a.

Returning to FIG. 2 again, the rod changer 20 includes an inner guide 21 for centering the inner rod 1a of the double tube rod 1, an inner clamp 22 for gripping the inner rod 1a, and an outer casing of the double tube rod 1. An upper outer clamp 23U that grips the upper side of the outer casing 1b, a lower outer clamp 23L that grips the lower side of the outer casing 1b, and a clamp slide mechanism 24 that moves the lower outer clamp 23L up and down along the longitudinal direction of the swing bracket 26. An inner centering cylinder 25 that centers the inner rod 1a, a swing bracket 26 that moves the double pipe rod 1 that has been centered onto the axis of the rotary drive device 40, and a swing that swings the swing bracket 26. an upper connecting member 28U and a lower connecting member 28L that integrate the swing bracket 26 with the reader device 30, and a rod changer support 29 for supporting the rod stocker 10. The inner guide 21, inner clamp 22, and upper and lower outer clamps 23U and 23L will be described later with reference to FIG. 4.

The rod changer support column 29 supports an upper connecting member 28U and a lower connecting member 28L. A swing bracket 26 is rotatably attached between the upper connection member 28U and the lower connection member 28L. The inner guide 21, the inner clamp 22, the upper and lower outer clamps 23U and 23L, the clamp slide mechanism 24, and the inner centering cylinder 25 are integrated into a swing bracket 26 via a predetermined bracket. Further, the swing bracket 26 is rotated by a swing actuator 27.

FIG. 4 is an explanatory diagram showing a gripping mechanism of the rod changer 20 according to the present invention. Note that FIG. 4 shows the main parts of the rod changer 20 when the swing bracket 26 swings toward the leader device 30 side.

The inner guide 21 is configured such that an upper arm 21c and a lower arm 21d are respectively swingable. Therefore, when the inner guide 21 opens, the outer casing 1b of the double pipe rod 1 can pass through the inner guide 21. On the other hand, when the inner guide 21 is closed, a through hole 21b (FIG. 5) is formed in the center. Therefore, only the inner rod 1a of the double tube rod 1 can pass through.

When the inner guide 21 is closed, the inner rod 1a is pushed by the inner centering cylinder 25 and passed through the through hole 21b (FIG. 5). The hole center of the through hole 21b passes within a predetermined range (within a tolerance range) around the axis of the inner end 40a of the rotary drive device 40 when the swing bracket 26 is turned as a fulcrum by a predetermined angle. It is preset as follows. Therefore, by passing the inner rod 1a through the through hole 21b formed at the center of the semi-conical shape (tapered surface 21a), the axis of the inner rod 1a is aligned with the axis of the inner end 40a of the rotary drive device 40. It will pass within the predetermined range (within the tolerance range).

In addition, when the inner guide 21 is closed, the inner peripheral surface forms a semi-conical tapered surface 21a (Fig. 5), so even if the double pipe rod 1 is inclined, the inner centering can be easily adjusted. When the cylinder 25 pushes the rear end of the inner rod 1a, the tip of the inner rod 1a is smoothly guided into the through hole 21b (FIG. 5).

On the inner circumferential surface of the inner clamp 22 (the surface facing the side surface of the inner rod 1a), cylinders 22b, 22b each having a V-shaped taper mechanism 22a (FIG. 5) attached to their tips are arranged symmetrically with respect to the upper and lower points. . Therefore, when the cylinders 22b, 22b grip the inner rod 1a from above and below, the axis of the inner rod 1a is positioned at a predetermined position. Note that this "predetermined position" means that when the axis of the inner rod 1a is rotated by a predetermined angle using the swing bracket 26 as a fulcrum, the axis of the inner rod 1a is at the position of the inner end 40a of the rotary drive device 40. This is a position that passes within a predetermined range (within a tolerance range) centered on the axis.

Note that the upper and lower clamp arms 22c and 22d of the inner clamp 22 are immovable and always fixed. As a result, an opening is always formed on the rod stocker 10 side of the inner clamp 22 through which the double pipe rod 1 (outer casing 1b) can pass.

Further, on the inner peripheral surface of the upper outer clamp 23U (the surface facing the side surface of the outer casing 1b), upper outer clamp cylinders 23Ub, 23Ub, each having a V-shaped roller taper mechanism 23Ua (FIG. 17) attached to the tip thereof, are arranged vertically. They are arranged symmetrically. Therefore, when the upper outer clamp cylinders 23Ub, 23Ub grip the outer casing 1b from the vertical direction, the axis of the outer casing 1b is positioned at a predetermined position. Note that this "predetermined position" means that when the axis of the outer casing 1b is rotated by a predetermined angle using the swing bracket 26 as a fulcrum, the axis of the outer casing 1b is at the position of the outer end 40b of the rotary drive device 40. This is a position that passes within a predetermined range (within a tolerance range) centered on the axis. Moreover, this V-shaped roller taper mechanism 23Ua allows the outer casing 1b to move relative to the upper outer clamp 23U along the axial direction (longitudinal direction) while maintaining the axial center position.

Note that the upper and lower clamp arms 23Uc and 23Ud of the upper outer clamp 23U are immovable and always fixed. As a result, an opening through which the double pipe rod 1 (outer casing 1b) can pass is always formed on the rod stocker 10 side of the upper outer clamp 23U.

On the other hand, on the inner circumferential surface of the lower outer clamp 23L (the surface facing the side surface of the outer casing 1b), lower outer clamp cylinders 23Lb, 23Lb each having a V-shaped taper mechanism 23La attached to their tips are arranged symmetrically with respect to the upper and lower points. ing. Therefore, when the lower outer clamp cylinders 23Lb, 23Lb grip the outer casing 1b from the vertical direction, the axis of the outer casing 1b is positioned at a predetermined position. Note that this "predetermined position" means that when the axis of the outer casing 1b is rotated by a predetermined angle using the swing bracket 26 as a fulcrum, the axis of the outer casing 1b is at the position of the outer end 40b of the rotary drive device 40. This is a position that passes within a predetermined range (within a tolerance range) centered on the axis.

Note that the upper and lower clamp arms 23Lc and 23Ld of the lower outer clamp 23L are immovable and always fixed. As a result, the lower outer clamp 23L always has an opening formed on the rod stocker 10 side through which the double pipe rod 1 (outer casing 1b) can pass.

In this way, the lower outer clamp 23L and the upper outer clamp 23U grip the outer casing 1b, thereby completing the centering of the outer casing 1b.

Although details will be described later with reference to FIG. 15, the lower outer clamp 23L is configured to be movable along the axial direction (longitudinal direction) of the swing bracket 26 by the clamp slide mechanism 24. This makes it possible to bring the outer casing 1b close to the rotary drive device 40 while the upper outer clamp 23U and the lower outer clamp 23L grip the outer casing 1b, that is, maintain the axial position of the outer casing 1b. Become. As a result, when connecting the outer casing 1b of the double tube rod 1 to the rotary drive device 40, there is no need to lower/raise the rotary drive device 40. This makes it possible to minimize the number of times the rotary drive device 40 is raised and lowered during the work of connecting the double tube rod 1 and the rotary drive device 40.

FIG. 5 is an explanatory diagram showing an axial center adjustment structure for the inner rod of the rod changer according to the present invention.
The tip of the rod 25a of the inner centering cylinder 25 has a conical cone shape 25b whose outer peripheral surface is reduced in diameter toward the inner guide 21. On the other hand, the inner guide 21 has a semi-conical tapered surface 21a whose inner peripheral surface is reduced in diameter toward the center, and a through hole 21b formed at the center of the tapered surface 21a. Note that since the inner guide 21 is configured to be divided into two, the tapered surface 21a and the through hole 21b are also configured to be divided into two.

First, the inner rod 1a of the double pipe rod 1 passes through the inside of the outer casing 1b by the inner centering cylinder 25 and comes into contact with the tapered surface 21a of the inner guide 21. The tip of the inner rod 1a is guided to the through hole 21b by the tapered surface 21a of the inner guide 21, and the axes of the tip are aligned by fitting into the through hole 21b. Next, by extending the rod 25a of the inner centering cylinder 25 to the stroke end, the cone shape 25b at the tip of the rod 25a fits into the rear end of the inner rod 1a. As a result, the axes are also aligned at the rear end, and the centering of the inner rod 1a is completed. By gripping the inner rod 1a in this state with the inner clamp 22, the centered state of the inner rod 1a is maintained.

FIG. 6 is an explanatory diagram showing a state in which the outer casing 1b approaches the rotary drive device 40 to be connected to it while maintaining the axial position of the outer casing 1b. Note that the inner guide 21 and the inner clamp 22 are in an open state.

As shown in FIG. 6, the leader slide mechanism 32 slides the rotary drive device 40 laterally. Thereafter, the clamp slide mechanism 24 slides the lower outer clamp 23L upward, and the outer casing 1b is moved upward to a predetermined position while the axis is held. Thereafter, the reader device 30 lowers the rotary drive device 40 to connect the outer end 40b of the rotary drive device 40 and the outer casing 1b. In this way, by moving the lower outer clamp 23L using the clamp slide mechanism 24, the movement process of the rotary drive device 40 is reduced, so that the connection work between the rotary drive device 40 and the outer casing 1b can be performed efficiently. You will be able to do this. Below, a series of processes from when the double pipe rod 1 is placed on the rod stocker 10 until it is connected to the rotation drive device 40 will be described.

FIG. 7 is a flow diagram showing a series of rod exchange processes from when the double tube rod 1 is placed on the rod stocker 10 until it is connected to the rotational drive device 40.

First, in process P1, as shown in FIG. 8, the double pipe rod 1 is set in the rod stocker 10. The double pipe rod 1 is set using, for example, a lifting and turning device such as a crane. In this case, the support column 17 of the rod stocker 10 is turned from an inclined state to a horizontal state by the hydraulic cylinder 19. Note that the angle of inclination of the support column 17 of the rod stocker 10 can be calculated based on the stroke amount of the hydraulic cylinder 19.

Thereafter, the double tube rod 1 is transferred by the transfer chain 11 to the positions of the upper and lower bent portions 16U1 and 16L1. As a result, the double pipe rod 1 is stably supported by the upper and lower bent portions 16U1 and 16L1, the support column 17, the stopper pins 13 and the back frame 14 without falling off. Note that the amount of transfer of the double pipe rod 1 can be calculated based on the amount of rotation of an encoder (not shown) attached to the hydraulic motor 12, for example.

Next, in process P2, as shown in FIG. 9, the double pipe rod 1 is erected to a predetermined position. The column 17 of the rod stocker 10 is erected by the hydraulic cylinder 19 to a position parallel to the swing bracket 26 of the rod changer 20. Thereafter, the double tube rod 1 is transferred to the rod changer 20 using the transfer chain 11. The outer casing 1b of the double tube rod 1 fits into the inner peripheral surfaces of the upper and lower outer clamps 23U and 23L.

Next, in process P3, as shown in FIG. 10, the outer rod 1b is centered. By gripping the outer casing 1b with the upper and lower outer clamps 23U and 23L, centering of the outer casing 1b is automatically performed.

Next, in process P4, as shown in FIG. 11, the inner rod 1a is centered. First, the rod 25a of the inner centering cylinder 25, which has a male cone shape 25b attached to its tip, engages with the rear end of the hollow cylindrical inner rod 1a (FIG. 11(a)). By extending the rod 25a, the inner rod 1a is pushed toward the inner guide 21 while contacting the inner peripheral surface of the outer casing 1b.

As the rod 25a further extends, the tip of the inner rod 1a comes into contact with the tapered surface 21a of the inner guide 21, is guided by the tapered surface 21a, and is fitted into the through hole 21b. By further extending the rod 25a, the cone shape 25b of the rod 25a fits into the rear end of the inner rod 1a (FIG. 11(b)). Thereby, the inner rod 1a is centered. In this case, the inner rod 1a is blocked by the upper and lower arms 21c and 21d of the inner guide 21 and cannot pass through the through hole 21b. That is, the inner rod 1a has its rear end urged by the rod 25a of the inner centering cylinder 25, and its tip end blocked by the upper and lower arms 21c and 21d of the inner guide 21.

By gripping the inner rod 1a from above and below with the cylinders 22b, 22b of the inner clamp 22, the axial center position of the inner rod 1a is maintained.

Next, in process P5, as shown in FIG. 12, the rotary drive device 40 is raised to a predetermined position.

Next, in process P6, as shown in FIG. 12, the inner guide 21, inner clamp 22, and upper and lower outer clamps 23U and 23L are rotated from the rod stocker 10 side to the leader side 30.

Next, in process P7, the inner guide 21 is opened as shown in FIG.

Next, in process P8, as shown in FIG. 13, the rotary drive device 40 is slid toward the rod changer 20 side. As a result, the axes of the inner rod 1a and the outer casing 1b of the double pipe rod 1 are positioned on the respective axes of the inner end 40a or outer end 40b of the rotary drive device 40, respectively.

Next, in process P9, as shown in FIG. 14, the inner end 40a of the rotary drive device 40 is connected to the inner rod 1a. The rotary drive device 40 is lowered and the female thread (not shown) of the inner end 40a of the rotary drive device 40 is screwed to the male thread (not shown) of the inner rod 1a, thereby connecting the rotary drive device 40 and the inner rod. 1a is connected.

Next, in process P10, the inner clamp 22 is opened, as shown in FIG. The grip from the vertical direction by the cylinders 22b, 22b is released.

Next, in process P11, as shown in FIG. 14, the inner centering cylinder 25 is contracted.

Next, in process P12, as shown in FIG. 15, the clamp slide mechanism 24 raises the outer casing 1b held by the lower outer clamp 23L.

Next, in process P13, as shown in FIG. 16, the outer casing 1b is connected to the outer end 40b of the rotary drive device 40. The rotary drive device 40 is lowered and the male thread (not shown) of the outer end 40b is screwed to the female thread (not shown) of the outer casing 1b, thereby connecting the rotary drive device 40 and the outer casing 1b. . This completes the connection between the double pipe rod 1 and the rotational drive device 40.

Next, in process P14, as shown in FIG. 16, the upper outer clamp 23U and the lower outer clamp 23L are opened. The grip from the upper and lower directions by the upper outer clamp cylinders 23Ub and 23Ub is released. Further, the grip from the vertical direction by the lower outer clamp cylinders 23Lb, 23Lb is released.

Next, in process P15, as shown in FIG. 16, the rotation drive device 40 to which the double tube rod 1 is connected is returned to the reader device 30 side by the head slide mechanism 32.

As described above, according to the drilling device 100 of the present invention, the axis of the double-pipe rod 1 can be adjusted while maintaining the inclination angle of the leader device 30 as it is at any construction angle of the double-pipe rod 1. It becomes possible to automatically connect and disconnect the tube rod 1 to and from the rotary drive device 40.

FIG. 17 is an explanatory diagram showing a V-shaped roller taper mechanism 23Ua attached to the tip of the upper outer clamp cylinder 23Ub according to the present invention. FIG. 17(a) is a sectional view of the main part of the upper outer clamp 23U, and FIG. 17(b) is a perspective view of the main part of the V-shaped roller taper mechanism 23Ua.

As shown in FIG. 17(a), a V-shaped roller taper mechanism 23Ua, in which an inclined roller is laterally folded back symmetrically, is arranged vertically point-symmetrically. Therefore, when the outer casing 1b is gripped from above and below by the V-shaped roller taper mechanisms 23Ua, 23Ua, the axis C1b of the outer casing 1b is positioned at a predetermined position formed by the V-shaped roller taper mechanisms 23Ua, 23Ua. will be done. Note that this "predetermined position" is the intersection of "the line segment connecting the upper contact point P1 and the lower contact point P2" and the "line segment connecting the upper contact point P2 and the lower contact point P1".

Note that, in the inner clamp 22, the axis of the inner rod 1a is positioned at a predetermined position formed by V-shaped taper mechanisms 22a, 22a, which are formed by folding the inclined rough-faced plates symmetrically in the transverse direction. Similarly, in the lower outer clamp 23L, the axis C1b of the outer casing 1b is positioned at a predetermined position formed by the V-shaped taper mechanisms 23La, 23La, which are formed by folding the inclined rough surface plates symmetrically in the horizontal direction. Become.

18 to 21 are explanatory diagrams showing a centralizer 60 according to the present invention. FIG. 18 shows the drilling device 100 near the centralizer 60 when the inner guide 62 is closed, and FIG. 19 shows the drilling device 100 near the centralizer 60 when the inner guide 62 is open. There is. FIG. 20 shows a cross section of essential parts of the centralizer 60 when the inner guide 62 is closed. FIG. 21 shows a cross section of essential parts of the centralizer 60 when the inner guide 62 is opened. Note that in FIGS. 18 and 19, a part of the centralizer 60 is shown in a cross-sectional view.

The centralizer 60 is a centering device that positions the axis of the tip of the double pipe rod 1 attached to the rotary drive device 40, which is connected to the double pipe rod 1 on the drilling side, within a predetermined range. It is. The "predetermined range" here refers to the axis of the inner end 40a of the rotary drive device 40 for the inner rod 1a of the double pipe rod 1, and the axis of the inner end 40b of the rotary drive device 40 for the outer casing 1b. It is the axis.

The centralizer 60 is fixed to the upper surface of a first clamp 71 provided at the bottom of the reader device 30 by, for example, a bolt 65. In addition to the gripping mechanism, the first clamp 71 includes a rotation mechanism that rotates the screw fastening portions between the inner rods 1a, 1a or between the outer casings 1b, 1b by about 40 degrees. Therefore, the first clamp 71 is used when it is difficult to loosen the screwed inner rods 1a, 1a or the outer casings 1b, 1b using only the rotational force (torque) of the rotary drive device 40.

The second clamp 72 is a gripping mechanism for clamping the inner rod 1a, and the third clamp 73 is a gripping mechanism for clamping the outer casing 1b.

The configuration of the centralizer 60 is such that the axis of the tip of the outer casing 1b attached to the rotary drive device 40 is aligned with the axis of the outer end 40b of the rotary drive device 40 (the axis of the outer casing 1b on the drilling side). The outer guide 61 is positioned so that the axis of the tip of the inner rod 1a attached to the rotation drive device 40 side is aligned with the axis of the inner end 40a of the rotation drive device 40 (the axis of the inner rod 1a on the drilling side). a left inner guide 62L and a right inner guide 62R that are positioned to match the axis), a left cylinder 63L that moves the left inner guide 62L in the horizontal direction, and a right cylinder 63R that moves the right inner guide 62R in the horizontal direction. The centralizer 60 includes a housing bracket 64 that horizontally movably houses the left and right inner guides 62L and 62R. Each configuration will be further explained below.

As shown in FIG. 20, the outer guide 61 is an annular body having a circular opening 61b formed in the center thereof through which the outer casing 1b passes, and is attached to the upper part of the accommodation bracket 64. Note that the housing bracket 64 has, for example, a bottomless hollow box shape with an open top surface. The opening 64a on the upper surface has an inner diameter through which the outer casing 1b can pass.

The outer peripheral edge of the outer guide 61 forms a tapered surface 61a that is inclined diagonally downward toward the center. This tapered surface 61a functions to smoothly guide the tip of the outer casing 1b on the rotation drive device 40 side into the opening 61b.

Further, the center (hole center) of the opening 61b is set at a position that coincides with the axis of the outer end 40b of the rotational drive device 40. Furthermore, the inner diameter ΦA of the opening 61b is set to be slightly larger than the maximum outer diameter of the outer casing 1b.

Therefore, when the axis of the outer casing 1b on the drilling side coincides with the axis of the outer end 40b of the rotary drive device 40, by passing the opening 61b of the outer casing 1b on the rotary drive device 40 side, the rotation can be made. Centering of the outer casing 1b on the driving device 40 side and the outer casing 1b on the drilling side is automatically performed.

An inner guide 62 is provided below the outer guide 61 for positioning the axis of the tip of the inner rod 1a attached to the rotary drive device 40. The inner guide 62 is composed of a left inner guide 62L and a right inner guide 62R, which correspond to one half annular body when the annular body is divided into two. Therefore, the shape in which the left inner guide 62L and the right inner guide 62R are joined forms an annular body having a circular opening 62b formed in the center thereof through which the inner rod 1a passes, similar to the outer guide 61.

The upper outer peripheral edge of the left inner guide 62L forms a left tapered surface 62La that is inclined diagonally downward toward the center of the opening 62b. Similarly, the upper outer peripheral edge of the right inner guide 62R forms a right tapered surface 62Ra that is inclined diagonally downward toward the center of the opening 62b. These left and right tapered surfaces 62La and 62Ra function to smoothly guide (sawn in) the tip of the inner rod 1a on the rotation drive device 40 side into the opening 62b.

Further, the center (hole center) of this opening 62b is set at a position that coincides with the axis of the inner end 40a of the rotary drive device 40. Further, the inner diameter ΦB of the opening 62b is set to be slightly larger than the maximum outer diameter of the inner rod 1a.

Therefore, when the axis of the inner rod 1a on the drilling side coincides with the axis of the inner end 40a of the rotation drive device 40, by passing the inner rod 1a on the rotation drive device 40 side through the opening 62b, the rotation can be made. The centering of the inner rod 1a on the driving device 40 side and the inner rod 1a on the drilling side is automatically performed.

Further, the left inner guide 62L is configured to be movable in the horizontal direction within the housing bracket 64 by a left cylinder 63L. Similarly, the right inner guide 62R is also configured to be movable in the horizontal direction within the housing bracket 64 by the right cylinder 63R.

Therefore, as shown in FIG. 21, when the outer casing 1b passes through the opening 61b of the outer guide 61, the left inner guide 62L moves to the left in the figure, and the right inner guide 62R moves to the right in the figure. Make sure that the passage of the casing 1b is not obstructed.

The left and right cylinders 63L, 63R can be configured, for example, by hydraulic cylinders, but they can also be configured by electric cylinders. The function of guiding the inner rod 1a toward the opening 62b by the centralizer 60 will be described below.

FIG. 22 is an explanatory diagram showing the function of guiding the inner rod 1a toward the opening 62b by the centralizer 60. For convenience of explanation, the axis passing through the center of the opening 62b created when the inner guide is closed will be referred to as the "reference axis".

As shown in FIG. 22(a), when the axis of the inner rod 1a is largely eccentric from the reference axis and comes into contact with the tapered surface 61a of the outer guide 61, the inner rod 1a is moved to the center of the opening 61b by the tapered surface 61a. be guided by.

As shown in FIG. 22(b), the inner rod 1a falls from the outer guide 61 onto the upper surface 62c of the inner guide 62.

As shown in FIG. 22(c), the inner rod 1a is moved from the upper surface 62c to the left and right tapered surfaces 62La and 62Ra by the feeding force of the leader device 30.

As shown in FIG. 22(d), since the left and right tapered surfaces 62La and 62Ra are inclined diagonally downward toward the center, the left and right tapered surfaces 62La and 62Ra form the tip of the inner rod 1a on the device side. When the inner rod 1a is smoothly guided to the opening 62b and passes through the opening 62b, it is automatically aligned with the axis of the inner rod 1a on the drilling side.

In this way, even if the axis of the tip of the inner rod 1a on the rotary drive device side is largely eccentric from the reference axis on the drilling side, the tapered surface 61a of the outer guide 61 allows the inner guide 62 to be It is guided to the left and right tapered surfaces 62La and 62Ra. The tip of the inner rod 1a on the device side is guided to the opening 62b by the left and right tapered surfaces 62La and 62Ra, and by passing through the opening 62b, it is smoothly aligned with the reference axis on the drilling side.

By the way, when the inner rod 1a on the drilling side protrudes from the upper surface 62c of the inner guide, when positioning the axis of the inner rod 1a on the drilling side to the axis of the inner end 40a on the rotary drive device side, By closing the left and right inner guides 62L and 62R and closing the first clamp 71 or the second clamp 72, the axis of the inner rod 1a on the drilling side is positioned at the axis of the inner end 40a on the rotation drive device side. becomes possible.

The mechanical features of the drilling device 100 have been described above, and the drilling device 100 performs operations ranging from drilling operation to reach the target depth to replenishment and removal of the double pipe rod 1 according to operating conditions set by the operator. It has an automatic operation mode that allows the series of hole drilling processes to be performed automatically. The automatic operation mode of the drilling apparatus 100 will be explained below.

FIG. 23 is a block diagram showing the configuration of the drilling control section 80 that controls the automatic operation mode related to the replenishment and removal of the double pipe rod 1 from the drilling operation of the drilling apparatus 100 to reach the target depth. Note that the automatic operation mode in this embodiment includes, for example, an automatic drilling mode (hereinafter also referred to as "A mode") in which a hole is automatically drilled to a predetermined depth, and an automatic operation mode in which the double pipe rod 1 is drilled during drilling. There is an automatic rod replenishment mode (hereinafter also referred to as "B mode") in which new double pipe rods 1 are automatically added, and a threaded connection of multiple inner rods 1a that have been drilled to a predetermined depth from underground. There is an automatic inner rod removal mode (hereinafter also referred to as "C mode") in which inner rods 1a are sequentially taken out one by one, the screw connections are sequentially released, and the inner rods 1a are sequentially transferred to the rod stocker 10, and multiple inner rods are drilled to a predetermined depth. Automatic outer casing extrusion mode (hereinafter also referred to as "D mode") in which the screw connections of the outer casing 1b are sequentially taken out from underground one by one, the screw connections are released, and the single outer casing 1b is sequentially transferred to the rod stocker 10. It consists of

The drilling control unit 80 that controls the automatic operation mode includes a management monitor unit 81 that allows the operator to set and monitor operating conditions related to each automatic operation mode, and a management monitor unit 81 that allows the operator to set and monitor operating conditions related to each automatic operation mode, and The control unit 82 is configured to include a control unit section 82 that controls the automatic operation mode. Note that the "operating conditions" mentioned here include, for example, target values for depth, speed, and pressure (target drilling depth (m), target feed rate (%), target feed pressure (MPa), target rotation speed (%), ), target rotational pressure (MPa), target percussion pressure (Ma)), and abnormal operation determination values for these. Further, in this embodiment, the communication form between the control unit section 82 and the management monitor section 81 is wired communication, but wireless communication is also applicable. Each configuration will be explained below.

24 to 26 are explanatory diagrams showing the management monitor section 81. FIG. 24 is an explanatory diagram showing the external appearance of the management monitor section 81. FIG. 25 is an explanatory diagram showing an automatic drilling (A, B mode) preparation screen. FIG. 26 is an explanatory diagram showing a monitor screen related to construction data.

The management monitor unit 81 can be configured, for example, by a tablet-type mobile terminal device that can be attached to the body structure 50 and has a touch panel. An input section 81a for the operator to input each operating condition in each automatic operation mode, a monitor section 81b for displaying construction data (measured values) related to each automatic operation mode, and each operation condition etc. set by the operator and construction. The management monitor section 81 includes a storage section 81c that records data (measured values), and a transmitting/receiving section 81d that transmits data to/receives data from an external computer (server).

As shown in FIG. 24, the management monitor section 81 has a liquid crystal touch panel TP arranged in the center. On the right side of the touch panel TP, from the top, there is a rotary power on/off switch CS1 for the operator to turn on/off the power, and an automatic drilling mode, automatic inner rod extrusion mode, or automatic outer casing extrusion mode. a rotary mode changeover switch CS2 for selecting one of the modes; a push-button cycle start switch PB1 for the operator to instruct the control unit section 82 to start the automatic operation mode; A push-button cycle stop switch PB2 for instructing the driver to stop the automatic operation mode, and a rotary percussion quick-hit/hard-hit changeover switch CS3 for the operator to switch between quick-hitting and hard-hitting of the hydraulic striking device 40d are arranged. has been done.

On the other hand, on the left side of the touch panel TP, from the top, there are a push-button recording start switch PB3 for the operator to instruct the management monitor section 81 to start recording, and a push-button recording start switch PB3 for the operator to instruct the management monitor section 81 to interrupt recording. A push-button recording stop switch PB4 is used by the operator to instruct the management monitor unit 81 to end recording, and a push-button recording end switch PB5 is used to control the operation of each actuator and each related hydraulic device. A push-button emergency stop switch EPB for stopping the rotary drive device 40 and a rotary rotation changeover switch CS4 for the operator to switch the rotation speed of the rotary drive device 40 between low speed and high speed are arranged.

As shown in FIG. 25, the operator can input various operating conditions on the automatic drilling (A, B mode) preparation screen 81a1. First, the operator can select either automatic operation or manual operation for the device main body side or the rod changer 20 side (including the rod stocker 10) on the automatic control setting screen 81a2.

Next, the operator can input the target drilling depth (m) and the length of one rod (m) on the drilling target value setting screen 81a3 using the keyboard 81a7. The number of rods to be used is automatically calculated by the management monitor section 81 from the drilling target depth (m) and the length of each rod (m).

Next, on the recording data setting screen 81a4, the operator can select the recording format between hourly recording and depth recording, and input the recording interval using the keyboard 81a7. If the recording format is hourly recording, it will be a predetermined unit of seconds, and if it is every depth, it will be a predetermined cm unit. Further, the file number and data name can be input using the keyboard 81a7.

Next, on the automatic drilling command value setting screen 81a5, the operator sets each target value for feed speed/pressure control of the reader device 30, rotation speed/rotational pressure of the rotary drive device 40, and percussion pressure control of the hydraulic impact device 40d. Each command value can be input using the keyboard 81a7.

Next, on the automatic drilling abnormal operation determination value setting screen 81a6, the operator uses the keyboard 81a6 to input each abnormal operation determination value for the control unit section 82 to determine that the automatic drilling operation is abnormal. can do. By pressing and holding the button 81a7, preparation for automatic drilling (A, B mode) is completed.

As shown in FIG. 26, the automatic drilling command value and abnormal operation determination value input by the operator are displayed on the monitor screen together with the measurement values measured by each sensor.

Returning to FIG. 23 again, the control unit section 82 can be configured by, for example, a control device such as a PLC (=Programmable Logic Controller). The control unit section 82 includes a speed/pressure control section 82a that controls each related actuator according to each automatic operation mode, and A/D converts each measurement data measured by each sensor to convert it into a predetermined value. The measuring unit 82b and an abnormality that determines whether or not the elapsed drilling time, drilling depth, feed speed, feed pressure, percussion pressure, rotational pressure, water flow rate, and water supply pressure are being performed normally in each automatic operation mode. The operation determination unit 82c is used for outputting construction data (e.g. drilling elapsed time, drilling depth, feed speed, feed pressure, percussion pressure, rotational pressure, water supply flow rate, and water supply pressure) or in each automatic operation mode. It has an input/output section 82d for receiving operating conditions (drilling target depth, target speed, target pressure) from the management monitor section 81.

The speed/pressure control section 82a performs speed control on the lifting drive section of the reader device 30 so that the current feed speed obtained from the measurement section 82b becomes equal to the set target feed speed. Similarly, pressure control is performed on the lift drive unit of the reader device 30 so that the current feed pressure obtained from the measurement unit 82b becomes equal to the set target feed pressure.

Further, the speed/pressure control unit 82b performs pressure control on the percussion drive unit of the hydraulic percussion device 40d so that the current percussion pressure obtained from the measurement unit 82b becomes equal to the set target percussion pressure.

Further, the speed/pressure control section 82b performs pressure control on the rotational drive section of the rotational drive device 40 so that the rotational pressure obtained from the measurement section 82b becomes equal to the set target rotational pressure. Similarly, speed control is performed on the rotation drive section of the rotation drive device 40 so that the current rotation speed obtained from the measurement section 82b becomes equal to the set target rotation speed.

In addition, the speed/pressure control unit 82b executes pressure control so that the operating pressure on the rod changer 20 side is equal to the target pressure, and also controls the upper and lower outer clamps 23U and 23L, the inner clamp 22, the inner guide 21, and the clamp slide. The mechanism 24, the inner centering cylinder 25, and the turning actuator 27 are ON/OFF controlled. Similarly, the operating pressure on the rod stocker 10 side is controlled to be equal to the target pressure, and the hydraulic motor 12 and the hydraulic cylinder 19 are ON/OFF controlled.

In addition, the speed/pressure control unit 82b executes pressure control so that the operating pressure on the centralizer 60 side becomes equal to the target pressure, and controls the upper and lower outer clamps 23U, 23L, the inner clamp 22, the inner guide 21, the clamp The slide mechanism 24, the inner centering cylinder 25, and the turning actuator 27 are ON/OFF controlled.

Further, the speed/pressure control unit 82b executes pressure control so that the operating pressure on the head slide mechanism 32 side becomes equal to the target pressure, and uses the pressure to control the head slide mechanism 32 and the drilling water direction switching mechanism (not shown). ) is ON/OFF controlled. Each automatic operation mode of the drilling apparatus 100 will be explained below. First, automatic drilling (A mode) will be explained.

27 to 31 are control flow diagrams showing an automatic drilling mode (A mode) among the automatic operation modes of the drilling apparatus 100. Moreover, FIGS. 32 to 34 are explanatory views showing the operation of the double pipe rod 1 in the automatic drilling mode. For convenience of explanation, only the rotation drive device 40, the double pipe rod 1, the inner guide 62 of the centralizer 60, the first clamp 71, the second clamp 72, and the third clamp 73 are illustrated. Also, when each clamp is tightened (closed), an X mark is placed next to the clamp.

As shown in FIG. 27, in step S1, the control unit section 82 loosens the first clamp 71. This allows the outer casing 1b of the double pipe rod 1 to pass through the first clamp 71.

In step S2, the control unit section 82 loosens the second clamp 72. This allows the outer casing 1b of the double pipe rod 1 to pass through the second clamp 72.

In step S3, the control unit section 82 loosens the third clamp 73. This allows the outer casing 1b of the double pipe rod 1 to pass through the third clamp 73.

In step S4, the control unit section 82 opens the inner guide 62 of the centralizer 60. This allows the outer casing 1b of the double pipe rod 1 to pass through the inner guide 62 of the centralizer 60.

In step S5, the control unit section 82 rotates the rotational drive device 40 in the forward direction.

In step S6, the control unit section 82 operates a water pump (not shown).

In step S7, the control unit section 82 feeds and lowers the reader device 30. As shown in FIG. 32, the double pipe rod 1 will be rotated and penetrated underground.

In step S8, the control unit section 82 determines whether the feed downward pressure is normal. The "feed downward pressure" here means the pressure that is the sum of the feed pressure of the leader device 30 and the impact pressure (percussion pressure) of the hydraulic impact device 40d. Therefore, when the feed descending pressure is normal, it means that the feed descending pressure is the "feed pressure abnormality judgment value" set on the automatic drilling abnormal operation judgment value setting screen 81a6 and the "percussion pressure" set on the automatic drilling command value setting screen 81a5. This means that the sum of "command value" is not exceeded. If the feed downward pressure is normal (OK), the control unit section 82 executes step S9.

On the other hand, if the feed downward pressure is abnormal (NG), the control unit section 82 first determines whether the striking state is ON or OFF. When the striking state is on, the control unit section 82 waits until the feed downward pressure becomes normal. On the other hand, if the striking state is off, it is determined whether the striking means is manual or automatic.

If the striking means is automatic, the control unit section 82 checks the striking operation determination time. If the impact operation determination time is abnormal (NG), the control unit section 82 waits until the feed downward pressure becomes normal. On the other hand, if the impact operation determination time is normal (OK), the control unit section 82 turns on the hydraulic impact device 40d and waits until the feed downward pressure becomes normal.

When the striking means is manual, the control unit section 82 waits until the feed downward pressure becomes normal.

In step S9, the control unit section 82 determines whether the feed pressure is normal. Note that the feed pressure is normal means that the feed pressure does not exceed the "feed pressure abnormality determination value" set on the automatic drilling abnormal operation determination value setting screen 81a6. If the feed pressure is normal (OK), the control unit section 82 executes step S10.

On the other hand, if the feed pressure is abnormal (NG), the control unit section 82 executes countermeasures against the feed abnormality. This feed abnormality countermeasure will be explained below.

FIG. 28 is a control flow diagram showing countermeasures against feed abnormality.
First, in step SS1, the control unit section 82 stops the hydraulic impact device 40d.

In step SS2, the control unit section 82 feeds and raises the reader device 30.

In step SS3, the control unit section 82 determines the feed rising pressure. The determination of normality is made when the feed rising side pressure is less than or equal to the "feed pressure abnormality determination value" set on the automatic drilling abnormal operation determination value setting screen 81a6. If this feed rising side pressure is normal (OK), the control unit section 82 executes step SS4. On the other hand, if this feed rising side pressure is abnormal (NG), the control unit section 82 executes step SS6.

In step SS6, the control unit section 82 determines the abnormality determination time. Note that this "abnormality determination time" means the time required for the feed rising pressure to change from abnormal (NG) to normal (OK). This also applies hereafter. Further, the determination of normality is made when the "abnormality determination time" is equal to or less than the elapsed time abnormality determination value set on the automatic drilling abnormal operation determination value setting screen 81a6. Therefore, if this "abnormality determination time" is normal (OK), the control unit section 82 executes step SS3 again.

On the other hand, if the "abnormality determination time" is abnormal (NG), the control unit section 82 executes the "abnormality interruption process." Note that this "abnormal interruption process" means a process of stopping the automatic drilling mode.

In step SS4, the control unit section 82 determines whether the current depth is less than or equal to the ascent stop depth. This "rise stop depth" is a depth set in advance for this "feed abnormality countermeasure". If the current depth is below the ascent stop depth (OK), the control unit section 82 executes step SS7. On the other hand, if the current depth exceeds the ascent stop depth (NG), the control unit section 82 executes step SS5.

In step SS7, the control unit section 82 determines the abnormal elapsed time. Note that this "abnormal elapsed time" means the time required until the current depth exceeds the ascent stop depth. This also applies hereafter. Further, the determination of normality is made when the "abnormal elapsed time" is equal to or less than the elapsed time abnormality determination value set on the automatic drilling abnormal operation determination value setting screen 81a6. If the abnormal elapsed time is normal (OK), the control unit section 82 executes step SS5.

On the other hand, if the abnormality determination time is abnormal (NG), the control unit section 82 executes "abnormality interruption processing".

In step SS5, the control unit section 82 feeds and lowers the reader device 30. After that, the control unit section 82 returns to the automatic drilling mode.

Returning to FIG. 24 again, in step S10, the control unit section 82 determines whether the water flow rate is normal. The "water flow rate" means the volume per minute (L/min) of drilling water that a water pump (not shown) supplies to the tip bit via the inner rod 1a. Moreover, the water supply flow rate being normal means that the water supply flow rate is within a predetermined range of the water supply flow rate abnormality determination value set on the automatic drilling abnormal operation determination value setting screen 81a6. If the water flow rate is normal (OK), the control unit section 82 executes step S11.

On the other hand, if the water supply flow rate is abnormal (NG), the control unit section 82 executes measures against the water supply flow rate abnormality. This countermeasure against water flow rate abnormality will be explained below.

FIG. 29 is a control flow diagram illustrating countermeasures against abnormal water flow rate. This water supply flow rate abnormality countermeasure is such that a "water supply flow rate abnormality determination" process is newly added between step SS4 and step SS5 of the above-mentioned feed abnormality countermeasure. That is, the control unit section 82 determines whether or not the water flow rate is normal after raising the rotary drive device 40 while rotating it in the forward direction until it exceeds the lifting stop depth. Note that the water supply flow rate being normal means that the water supply flow rate is within a predetermined range of the water supply flow rate abnormality determination value set on the automatic drilling abnormal operation determination value setting screen 81a6. Therefore, if the water supply flow rate is normal (OK), the control unit section 82 executes step SS6. On the other hand, if the water supply flow rate is abnormal (NG), the control unit section 82 executes step SS9.

Furthermore, in step SS9, the control unit section 82 determines the abnormality determination time. Note that this "abnormality determination time" means the time required for the water flow rate to change from abnormal (NG) to normal (OK). This also applies hereafter. Further, the determination of normality is made when the "abnormality determination time" is equal to or less than the elapsed time abnormality determination value set on the automatic drilling abnormal operation determination value setting screen 81a6. Therefore, if this "abnormality determination time" is normal (OK), the control unit section 82 executes step SS5 again. On the other hand, if the abnormality determination time is abnormal (NG), the control unit section 82 executes "abnormality interruption processing".

In step SS6, the control unit section 82 feeds and lowers the reader device 30. After that, the control unit section 82 returns to the automatic drilling mode.

Returning to FIG. 24 again, in step S11, the control unit section 82 determines whether the water supply pressure is normal. "Water supply pressure" means the pressure (MPa) of drilling water that a water supply pump (not shown) supplies to the tip bit via the inner rod 1a. Moreover, the water supply pressure being normal means that the water supply pressure is equal to or lower than the water supply pressure abnormality determination value set on the automatic drilling abnormal operation determination value setting screen 81a6. Therefore, if the water supply pressure is normal (OK), the control unit section 82 executes step S12.

On the other hand, if the water supply pressure is abnormal (NG), the control unit section 82 executes measures against the water supply pressure abnormality. This countermeasure against abnormal water supply pressure will be explained below.

FIG. 30 is a control flow diagram showing measures against water supply pressure abnormality. In this water supply pressure abnormality countermeasure, a "water supply pressure abnormality determination" process is newly added between step SS4 and step SS5 of the above-mentioned feed abnormality countermeasure. That is, the control unit section 82 determines whether the water supply pressure is normal after raising the rotary drive device 40 while rotating it in the forward direction until it exceeds the lifting stop depth. Note that the water supply pressure being normal means that the water supply pressure is less than or equal to the water supply pressure abnormality determination value set on the automatic drilling preparation screen 81a. Therefore, if the water supply pressure is normal (OK), the control unit section 82 executes step SS6. On the other hand, if the water supply flow rate is abnormal (NG), the control unit section 82 executes step SS9.

Furthermore, in step SS9, the control unit section 82 determines the abnormality determination time. Note that this "abnormality determination time" means the time required for the water supply pressure to change from abnormal (NG) to normal (OK). This also applies hereafter. Further, the determination of normality is made when the "abnormality determination time" is equal to or less than the elapsed time abnormality determination value set on the automatic drilling abnormal operation determination value setting screen 81a6. Therefore, if this "abnormality determination time" is normal (OK), the control unit section 82 executes step SS5 again. On the other hand, if the abnormality determination time is abnormal (NG), the control unit section 82 executes "abnormality interruption processing".

In step SS6, the control unit section 82 feeds and lowers the reader device 30. After that, the control unit section 82 returns to the automatic drilling mode.

Returning to FIG. 24 again, in step S12, the control unit section 82 determines whether the rotational pressure is normal. "Rotational pressure" means the pressure (MPa) of hydraulic oil when the inner end 40a and outer end 40b of the rotational drive device 40 are rotating. Moreover, the rotational pressure being normal means that the rotational pressure is less than or equal to the rotational pressure abnormality determination value set on the automatic drilling abnormality operation determination value setting screen 81a6. Therefore, if the rotational pressure is normal (OK), the control unit section 82 executes step S13.

On the other hand, if the rotational pressure is abnormal (NG), the control unit section 82 executes countermeasures against the rotational pressure abnormality. This countermeasure against rotational pressure abnormality will be explained below.

FIG. 31 is a control flow diagram showing countermeasures against rotational pressure abnormality. This rotational pressure abnormality countermeasure is such that a "rotational pressure abnormality determination" process is newly added between step SS4 and step SS5 of the above-mentioned feed abnormality countermeasure. That is, the control unit section 82 determines whether the rotational pressure is normal after raising the rotary drive device 40 while rotating it in the forward direction until it exceeds the lift stop depth. Note that the rotational pressure being normal means that the rotational pressure is less than or equal to the rotational pressure abnormality determination value set on the automatic drilling abnormality operation determination value setting screen 81a6. Therefore, if the rotational pressure is normal (OK), the control unit section 82 executes step SS6. On the other hand, if the rotational pressure is abnormal (NG), the control unit section 82 executes step SS9.

Furthermore, in step SS9, the control unit section 82 determines the abnormality determination time. Note that this "abnormality determination time" means the time required for the rotational pressure to change from abnormal (NG) to normal (OK). This also applies hereafter. Further, the determination of normality is made when the "abnormality determination time" is equal to or less than the elapsed time abnormality determination value set on the automatic drilling abnormal operation determination value setting screen 81a6. Therefore, if this "abnormality determination time" is normal (OK), the control unit section 82 executes step SS5 again. On the other hand, if the abnormality determination time is abnormal (NG), the control unit section 82 executes "abnormality interruption processing".

In step SS6, the control unit section 82 feeds and lowers the reader device 30. After that, the control unit section 82 returns to the automatic drilling mode.

Returning to FIG. 24 again, in step S13, the control unit section 82 determines whether the feed speed is normal. "Feed speed" means the lifting speed (m/min) of the rotary drive device 40 when the reader device 30 raises/lowers the rotary drive device 40. Moreover, the feed speed is normal means that the feed speed is equal to or lower than the feed speed abnormality determination value set on the automatic drilling abnormal operation determination value setting screen 81a6. Therefore, if the feed speed is normal (OK), the control unit section 82 executes step S14.

On the other hand, if the feed speed is abnormal (NG), the control unit section 82 executes countermeasures against the feed speed abnormality. Note that this feed speed abnormality countermeasure is almost the same as the feed abnormality countermeasure (FIG. 25) described above, so a description thereof will be omitted here.

In step S14, the control unit section 82 determines whether the elapsed time is normal. The "elapsed time" here means the elapsed time (seconds) after the automatic drilling mode was started in step S7. Further, the elapsed time being normal means that the elapsed time is less than or equal to the elapsed time abnormality determination value set on the automatic drilling abnormality operation determination value setting screen 81a6. If the elapsed time is normal (OK), the control unit section 82 executes step S15.

On the other hand, if the elapsed time is abnormal (NG), the control unit section 82 determines that the elapsed time is abnormal, and executes abnormality interruption processing. Note that the abnormality interruption process is a process in which the controller unit section 82 stops the automatic drilling mode. After recovery by manual operation by the operator, the control unit section 82 restarts the automatic drilling mode from step S1.

In step S15, the control unit section 82 determines whether the rotary drive device 40 has reached the feed lower limit position. The control unit section 82 determines whether the rotary drive device 40 has reached the lower feed limit position based on the detection signal of the second proximity sensor (FIG. 23). When the rotary drive device 40 reaches the feed lower limit position (ON), the controller unit section 82 executes the post-drilling operation.

Note that the "post-drilling treatment operation" herein refers to "the control unit 82 announces to the operator to perform sludge removal treatment, and then raises and lowers the rotary drive device 40 by a predetermined distance and a predetermined number of times. Executes flushing operation processing. Next, the control unit section 82 executes an outer casing thread cutting operation process (FIG. 33) to release the threaded connection between the rotary drive device 40 and the outer casing 1b. Next, the control unit section 82 announces to the operator to perform mud removal processing, and then performs a flushing operation process in which the rotary drive device 40 is raised and lowered by a predetermined distance and a predetermined number of times. Next, the control unit section 82 performs an inner rod thread cutting operation (FIG. 34) to release the threaded connection between the rotary drive device 40 and the inner rod 1a. This "post-drilling processing operation" will be described later with reference to FIGS. 62 to 65.

On the other hand, if the rotary drive device 40 has not reached the feed lower limit position (OFF), the control unit section 82 executes step S16.

In step S16, the control unit section 82 determines whether the current depth has reached the target depth. The current depth means the amount of penetration of the tip of the inner rod 1a from the ground. The amount of penetration of the tip of the inner rod 1a from the ground is calculated by the control unit section 82 based on the measurement signal from the depth encoder (FIG. 23) attached to the chain hydraulic motor 33 of the leader device 30.

When the current depth reaches the target depth (OK), the controller unit section 82 executes the post-drilling processing operation. On the other hand, if the current depth has not reached the target depth (NG), the control unit section 82 executes step S8 again. Next, the B mode will be explained.

35 to 37 are control flow diagrams showing the automatic rod replenishment mode among the automatic operation modes of the drilling apparatus 100. 38 to 43 are explanatory diagrams showing the operation of the double pipe rod 1 in the automatic rod replenishment mode. For convenience of explanation, it is assumed that the second clamp 72 and the third clamp 73 on the centralizer 60 side are tightened (closed).

First, in step S1, the control unit section 82 feeds and raises the reader device 30. As shown in FIG. 38(a), the inner end 40a and outer end 40b of the rotary drive device 40 and the inner rod 1a and outer casing 1b on the drilling side are in a separated state, respectively.

In step S2, the control unit section 82 checks whether the rotary drive device 40 has reached a predetermined upper limit feed position. The control unit section 82 determines whether the rotary drive device 40 has reached the feed upper limit position from the detection signal of the first proximity sensor (FIG. 23) attached to the feed upper limit position of the reader device 30. When the rotary drive device 40 reaches the feed upper limit position (OK), the control unit section 82 executes step S3. On the other hand, if the rotary drive device 40 has not reached the feed upper limit position (NG), the control unit section 82 executes step S2 again.

In step S3, the control unit section 82 stops feeding the reader device 30. As shown in FIG. 38(b), the rotary drive device 40 is stationary at the feed upper limit position.

In step S4, the control unit section 82 checks the replenishment state of the double pipe rods 1 in the rod changer 20. The "replenishment state of the double tube rod 1 in the rod changer 20" as used herein means a state in which the double tube rod 1 whose axis has been adjusted is positioned on the leader device 30 side (that is, the swing bracket 26 is 30 side, the outer casing 1b is held by the upper and lower outer clamps 23L, 23U, the inner rod 1a is held by the inner clamp 22, and is supported by the inner centering cylinder 25) It means that.

The control unit section 82 determines that "the swing bracket 26 is turned toward the reader device 30 side" from the detection signal of the eleventh proximity sensor (FIG. 23). Furthermore, it is determined from the detection signals of the fifth proximity sensor (FIG. 23) and the ninth proximity sensor (FIG. 23) that the outer casing 1b is being held by the upper and lower outer clamps 23L and 23U. 82 will be judged. Similarly, "the state in which the inner rod 1a is held by the inner clamp 22 and supported by the inner centering cylinder 25" means that the sixth proximity sensor (FIG. 23) and the eighth proximity sensor (FIG. 23) The control unit section 82 makes a determination based on the detection signal.

When the replenishment state of the double pipe rod 1 is confirmed in the rod changer 20 (OK), the control unit section 82 executes step S5. On the other hand, if the replenishment state of the double tube rods 1 in the rod changer 20 is not confirmed (NG), the control unit section 82 causes the rod changer 20 to be replenished with the double tube rods 1. Below, rod replenishment in the rod changer 20 will be explained.

FIG. 36 is a control flow diagram showing the rod replenishment mode in the rod changer 20.
First, in step SS1, the control unit section 82 determines whether or not the double pipe rod 1 is present in the rod stocker 10. The control unit section 82 determines whether the double pipe rod 1 is present in the rod stocker 10 based on the detection signal of the fourteenth proximity sensor (FIG. 23). If the double pipe rod 1 is present in the rod stocker 10 (OK), the control unit section 82 executes step SS3. On the other hand, if there is no double pipe rod 1 in the rod stocker 10 (NG), the control unit section 82 executes step SS2.

In step SS2, the control unit section 82 makes a sound to the effect that the double pipe rod 1 should be replenished, and displays a text message to that effect on the screen of the management monitor section 81.

In step SS3, the control unit section 82 determines whether or not there is no double pipe rod 1 in the rod changer 20. The control unit section 82 determines whether or not there is no double pipe rod 1 in the rod changer 20 based on the detection signal of the twelfth proximity sensor (FIG. 23). If the double pipe rod 1 is not present in the rod changer 20 (OK), the control unit section 82 executes step SS4. On the other hand, if the double pipe rod 1 is present in the rod changer 20 (NG), the control unit section 82 executes step SS3 again.

In step SS4, the control unit section 82 determines whether the rod changer 20 is in a standby state. Note that "the rod changer 20 is in a standby state" as used herein refers to a state in which the swing bracket 26 is swiveled toward the rod stocker 10 side, and in which the upper and lower outer clamps 23L, 23U and the inner clamp 22 are all loosened. This means that the inner guide 21 is in an open state. If the rod changer 20 is in the standby state (OK), the control unit section 82 executes step SS5. On the other hand, if the rod changer 20 is not in the standby state (NG), the control unit section 82 executes step SS4 again.

In step SS5, the control unit section 82 determines whether the operator has pressed the rod replenishment button. Detection that the rod replenishment button has been pressed is performed by an ON/OFF signal (FIG. 23) of the rod replenishment button provided on the rod changer 20. When the operator presses the rod replenishment button (OK), the control unit section 82 executes step SS6. On the other hand, if the operator has not pressed the rod replenishment button yet (NG), the control unit section 82 executes step SS5 again.

In step SS6, the control unit section 82 rotates the hydraulic motor 12 forward by a predetermined angle to transport the double pipe rod 1 to the raised position by the transport chain 11. The "raised position" means the position where the control unit section 82 drives the hydraulic cylinder 19 to change the rod stocker 10 from a horizontal state to the same tilted state as the rod changer 20. The control unit section 82 determines that the double pipe rod 1 has reached the raised position from the detection signal of the rotary encoder (FIG. 23).

In step SS7, the hydraulic cylinder 19 is extended to raise the rod stocker 10. The control unit section 82 determines whether the rod stocker 10 is in the upright state (the hydraulic cylinder 19 is extended) from the detection signal of the thirteenth proximity sensor (FIG. 23).

In step SS8, the control unit section 82 rotates the hydraulic motor 12 forward by a predetermined angle to transfer the double pipe rod 1 to the rod changer 20 by the transfer chain 11.

In step SS9, the control unit section 82 tightens the upper and lower outer clamps 23U and 23L. This completes the centering of the outer casing 1b. Note that the control unit section 82 determines whether the double pipe rod 1 is present in the rod changer 20 based on the detection signal of the twelfth proximity sensor (FIG. 23). Further, the control unit section 82 determines whether the upper and lower outer clamps 23L, 23U are in a tightened state based on the detection signals of the fifth proximity sensor (FIG. 23) and the ninth proximity sensor (FIG. 23). I will do it.

In step SS10, the control unit section 82 closes the inner guide 21. The control unit section 82 determines whether the inner guide 21 is in the closed state based on the detection signal of the seventh proximity sensor (FIG. 23).

In step SS11, the control unit section 82 extends the inner centering cylinder 25. The control unit section 82 determines whether the inner centering cylinder 25 is in the extended state based on the detection signal of the eighth proximity sensor (FIG. 23).

In step SS12, the control unit section 82 tightens the lower cylinder 22b of the inner clamp 22.

In step SS13, the control unit section 82 tightens the upper cylinder 22b of the inner clamp 22. The control unit section 82 determines whether the inner clamp 22 is in the closed state based on the detection signal of the sixth proximity sensor (FIG. 23). This completes the centering of the inner rod 1a. Therefore, the centering of the double tube rod 1 is completed by steps SS13 and step SS9.

In step SS14, the control unit section 82 loosens the inner guide 21. The control unit section 82 determines whether the inner guide 21 is in a loosened (open) state based on the detection signal of the seventh proximity sensor (FIG. 23).

Step SS
At step 15, the turning actuator 27 is rotated in the normal direction to turn the double tube rod 1 whose axis has been adjusted toward the leader device 30 (FIG. 39(a)). The control unit section 82 determines whether the double pipe rod 1 has turned toward the reader device 30 side based on the detection signal of the eleventh proximity sensor (FIG. 23). This means that replenishment of the double pipe rod 1 on the rod changer 20 side is completed.

Also, step SS
At step 16, the control unit section 82 drives the hydraulic cylinder 19 to return the rod stocker 10 to the horizontal state.

Also, step SS
At step 17, the control unit section 82 reverses the hydraulic motor 12 to return the stopper pin 13 and the back frame 14 to their original positions.

Returning to FIG. 35 again, in step S5, the control unit section 82 slides the rotational drive device 40 toward the rod changer 20 (FIG. 39(b)).

In step S6, the control unit section 82 rotates the rotary drive device 40 in the forward direction (FIG. 40(a)).

In step S7, the control unit section 82 feeds and lowers the reader device 30 (FIG. 40(a)).

In step S8, the control unit section 82 determines the connection between the inner end 40a of the rotary drive device 40 and the inner rod 1a on the rod changer 20 side (FIG. 40(a)). The control unit section 82 determines the connection based on the rotational pressure (MPa) of the rotational drive device 40.

If the inner end 40a of the rotary drive device 40 and the inner rod 1a on the rod changer 20 side are connected at a predetermined rotational pressure (MPa) (OK), the control unit section 82 executes step S9. On the other hand, if the inner end 40a of the rotary drive device 40 and the inner rod 1a on the rod changer 20 side are not connected with the predetermined rotational pressure (MPa) (NG), the control unit section 82 executes step S7 again.

In step S9, the control unit section 82 stops the rotation of the rotational drive device 40.

In step S10, the control unit section 82 stops feeding the reader device 30.

In step S11, the control unit section 82 loosens the inner clamp 22.

Step S
At step 12, the control unit section 82 retracts the inner centering cylinder 25.

Step S
At step 13, the control unit section 82 loosens the upper outer clamp 23U.

Step S
14, the control unit section 82 drives the clamp slide mechanism 24 to raise the lower outer clamp 23L (FIG. 40(b)).

Step S
15, the control unit section 82 rotates the rotational drive device 40 in the forward direction (FIG. 40(b)).

Step S
In step 16, the control unit section 82 determines the connection between the outer end 40b of the rotary drive device 40 and the outer casing 1b on the rod changer 20 side (FIG. 40(b)). The control unit section 82 determines the connection based on the rotational pressure (MPa) of the rotational drive device 40.

If the outer end 40b of the rotary drive device 40 and the outer casing 1b on the rod changer 20 side are connected at a predetermined rotational pressure (MPa) (OK), the control unit section 82 performs step S.
Execute step 17. On the other hand, if the outer end 40b of the rotary drive device 40 and the outer casing 1b on the rod changer 20 side are not connected at a predetermined rotational pressure (MPa) (NG), the control unit section 82 performs step S.
Execute step 15 again.

Step S
At step 17, the control unit section 82 stops the rotation of the rotary drive device 40 (FIG. 41(a)).

Step S
18, the control unit section 82 loosens the lower outer clamp 23L (FIG. 41(a)).

Step S
At step 19, the control unit section 82 feeds and raises the reader device 30 (FIG. 41(a)).

Step S
At step 20, the control unit section 82 checks whether the rotary drive device 40 has reached a predetermined upper limit feed position. Detection that the rotary drive device 40 has reached the feed upper limit position is detected by the first proximity sensor (FIG. 23) attached to the feed upper limit position of the reader device 30. When the rotary drive device 40 reaches the feed upper limit position (OK), the control unit section 82 performs step S.
Execute 21. On the other hand, if the rotary drive device 40 has not reached the feed upper limit position (NG), the control unit section 82 performs step S.
Execute step 19 again.

Step S
At step 21, the control unit section 82 stops feeding the reader device 30 (FIG. 41(b)).

Step S
At 22, the control unit section 82 drives the head slide mechanism 32 to slide the rotary drive device 40 toward the pile core side (FIG. 41(b)). After that, the control unit section 82 performs step S in parallel.
23 and execute "rod connection mode". The "rod connection mode" will be described later with reference to FIG. 37.

Step S
23, the control unit section 82 drives the clamp slide mechanism 24 to lower the lower outer clamp 23L (FIG. 41(b)).

Step S
At 24, the control unit section 82 drives the swing actuator 27 to swing the rod changer 20 toward the rod stocker 10 (FIG. 41(b)). Next, the rod connection mode will be explained.

FIG. 37 is a control flow diagram showing the rod connection mode among the rod replenishment modes. This rod connection mode is a mode in which the double pipe rod 1 on the rotary drive device 40 side is added to the double pipe rod 1 on the drilling side.

In step S26, the control unit section 82 closes the inner guide 62 of the centralizer 60 (FIG. 42(a)). As a result, the axis of the inner rod 1a on the rotation drive device 40 side is aligned with the axis of the first inner rod 1a (1) on the drilling side.

In step S27, the control unit section 82 feeds and lowers the reader device 30 (FIG. 42(a)).

In step S28, the control unit section 82 determines whether the inner rod 1a on the rotary drive device 40 side has reached the depth at which the inner rod can be connected to the first inner rod 1a(1) on the drilling side.

When the inner rod 1a on the rotary drive device 40 side reaches the inner rod connectable depth with respect to the first inner rod 1a(1) on the drilling side (OK), the control unit section 82 executes step S29. On the other hand, if the inner rod 1a on the rotary drive device 40 side has not reached the depth at which the inner rod can be connected to the first inner rod 1a (1) on the drilling side (NG), the control unit section 82 executes step S27. Try again.

In step S29, the control unit section 82 rotates the rotational drive device 40 in the forward direction (FIG. 42(b)).

In step S30, the control unit section 82 determines the connection between the inner rod 1a on the rotary drive device 40 side and the first inner rod 1a(1) on the drilling side (FIG. 42(b)). The control unit section 82 determines the connection based on the rotational pressure (MPa) of the rotational drive device 40.

If the inner rod 1a on the rotary drive device 40 side and the first inner rod 1a on the drilling side are connected with a predetermined rotational pressure (MPa) (OK), the control unit section 82 executes step S31. On the other hand, if the inner rod 1a on the rotary drive device 40 side and the first inner rod 1a (1) on the drilling side are not connected with the predetermined rotational pressure (MPa) (NG), the control unit section 82 steps Execute S29 again.

In step S31, the control unit section 82 stops the rotation of the rotational drive device 40.

In step S32, the control unit section 82 stops feeding the reader device 30.

In step S33, the control unit section 82 opens the inner guide 62 of the centralizer 60 (FIG. 43(a)).

In step S34, the control unit section 82 loosens the second clamp 72 on the centralizer 60 side (FIG. 43(a)).

In step S35, the control unit section 82 rotates the rotational drive device 40 in the forward direction (FIG. 43(a)).

In step S36, the control unit section 82 feeds and lowers the reader device 30 (FIG. 43(a)).

In step S37, the control unit section 82 determines the connection between the outer casing 1b on the rotary drive device 40 side and the first outer casing 1b(1) on the drilling side (FIG. 43(b)). The control unit section 82 determines the connection based on the rotational pressure (MPa) of the rotational drive device 40.

If the outer casing 1b on the rotary drive device 40 side and the first outer casing 1b(1) on the drilling side are connected at a predetermined rotational pressure (MPa) (OK), the control unit section 82 performs step S38. Execute. On the other hand, if the outer casing 1b on the rotary drive device 40 side and the first outer casing 1b(1) on the drilling side are not connected at a predetermined rotational pressure (MPa) (NG), the control unit section 82 steps Execute S36 again.

In step S38, the control unit section 82 stops the rotation of the rotational drive device 40.

In step S39, the control unit section 82 stops feeding the reader device 30. The above is the rod connection mode. After that, the control unit section 82 executes the automatic drilling mode. Next, the automatic inner rod removal mode will be explained.

44 to 46 are control flow diagrams showing the automatic inner rod extraction mode among the automatic operation modes of the drilling apparatus 100. 47 to 52 are explanatory diagrams showing the operation of the double tube rod 1 in the inner rod extubation mode.

This inner rod extraction mode is a mode for extracting all the inner rods 1a from among the double pipe rods 1 that have been rotated and penetrated into the ground after soil improvement work. For convenience of explanation, the inner rod 1a located at the highest position will be referred to as the first inner rod 1a(1), and the inner rod 1a connected to the lower end of the first inner rod 1a(1) will be referred to as the first inner rod 1a(1). Hereinafter, the inner rod 1a connected to the lower end of the n-1st inner rod 1a (n-1) is the nth inner rod. 1a(n).

Further, it is assumed that the screw connection between the inner end 40a of the rotary drive device 40 and the first inner rod 1a(1) is maintained. Further, the outer end 40b of the rotary drive device 40 is completely separated from the first outer casing 1b(1), and the first outer casing 1b(1) is clamped by the third clamp 73 on the centralizer 60 side. It is assumed that

As shown in FIG. 44, in step S1, the control unit section 82 determines whether or not the inner end 40a of the rotary drive device 40 and the first inner rod 1a (1) on the drilling side are in the inner rod threading possible position. Determine. This "inner rod threading possible position" means that the first clamp 71 can clamp the inner end 40a of the rotational drive device 40, and the second clamp 72 can clamp the first inner rod 1a (1). It means the depth (height position) of the rotary drive device 40. This "inner rod threading possible position" is stored in advance in the storage section (for example, internal memory) of the control unit section 82.

When the inner end 40a of the rotary drive device 40 and the first inner rod 1a (1) on the drilling side are in the inner rod threading possible position (OK), the control unit section 82 executes step S2. On the other hand, if the inner end 40a of the rotary drive device 40 and the first inner rod 1a (1) on the drilling side are not in the position where the inner rod can be threaded (NG), the control unit section 82 controls the leader device 30 as necessary. The feed is raised/lowered, or the rotary drive device 40 is rotated so that the inner end 40a of the rotary drive device 40 and the first inner rod 1a (1) on the drilling side come to a position where the inner rod can be threaded.

In step S2, the control unit section 82 closes the inner guide 62 of the centralizer 60 (FIG. 47(a)). Thereby, the axis of the inner end 40a is positioned within a predetermined range.

In step S3, the control unit section 82 tightens the second clamp 72 on the centralizer 60 side (FIG. 47(a)). This restricts the rotation and vertical movement of the first inner rod 1a (1).

In step S4, the control unit section 82 tightens the first clamp 71 on the centralizer 60 side (FIG. 47(a)). This restricts the rotation and vertical movement of the inner end 40a of the rotary drive device 40.

In step S5, the control unit section 82 rotates the first clamp 71 on the centralizer 60 side (FIG. 47(a)). Thereby, the screw fastening between the inner end 40a and the first inner rod 1a(1) is released.

In step S6, the control unit section 82 loosens the first clamp 71 on the centralizer 60 side (FIG. 47(b)). Thereby, the inner end 40a of the rotary drive device 40 can freely rotate and move up and down.

In step S7, the control unit section 82 returns the first clamp 71 on the centralizer 60 side to its original rotational position (FIG. 47(b)). This allows the first clamp 71 to apply rotational torque again.

In step S8, the control unit section 82 loosens the second clamp 72 on the centralizer 60 side (FIG. 47(b)). As a result, the first inner rod 1a (1) can freely rotate and move up and down.

In step S9, the control unit section 82 feeds and raises the reader device 30 (FIG. 47(b)). This makes it possible to pull up the first inner rod 1a(1) to the nth inner rod 1a(n) to a predetermined height.

In step S10, the control unit section 82 determines whether the change in depth of the rotary drive device 40 is equal to or less than the inner rod length. If the change in depth of the rotary drive device 40 is less than or equal to the inner rod length (OK), the control unit section 82 executes step S11. On the other hand, if the change in depth of the rotary drive device 40 exceeds the inner rod length (NG), the control unit section 82 executes step S9 again. Note that the "change in depth" herein is defined by "change in depth" = "depth after change" - "depth before change". Regarding the sign of depth, the ground is zero and the vertically downward direction is positive.

In step S11, the control unit section 82 stops feeding the reader device 30. Thereby, the first clamp 71 can clamp the first inner rod 1a(1), and the second clamp 72 can clamp the second inner rod 1a(2).

In step S12, the control unit section 82 determines whether the current number is less than or equal to the number of used rods. If the current number is less than or equal to the number of used rods (OK), the control unit section 82 executes step S13. On the other hand, if the current number exceeds the number of used rods (NG), the control unit section 82 ends the inner rod removal mode.

In step S13, the control unit section 82 determines whether the current depth is less than or equal to the drilling start depth. If the current depth is less than or equal to the drilling start depth (OK), the control unit section 82 executes step S14. On the other hand, if the current depth exceeds the drilling start depth (NG), the control unit section 82 ends the inner rod removal mode.

In step S14, the control unit section 82 tightens the second clamp 72 on the centralizer 60 side (FIG. 48(a)). This restricts the rotation and vertical movement of the second inner rod 1a (2).

In step S15, the control unit section 82 tightens the first clamp 71 on the centralizer 60 side (FIG. 48(a)). As a result, the rotation and vertical movement of the first inner rod 1a (1) is restricted.

In step S16, the control unit section 82 rotates the first clamp 71 on the centralizer 60 side (FIG. 48(a)). As a result, the screw connection between the first inner rod 1a(1) and the second inner rod 1a(2) is loosened.

In step S17, the control unit section 82 loosens the first clamp 71 on the centralizer 60 side. As a result, the first inner rod 1a (1) can freely rotate and move up and down.

In step S18, the control unit section 82 returns the first clamp 71 to its original rotational position. This allows the first clamp 71 to apply rotational torque again.

In step S19, the control unit section 82 loosens the second clamp 72 (FIG. 48(b)). Thereby, the second inner rod 1a(1) can freely rotate and move up and down.

In step S20, the control unit section 82 tightens the first clamp 71 (FIG. 48(b)). This restricts the rotation and vertical movement of the first inner rod 1a (1).

In step S21, the control unit section 82 rotates the rotational drive device 40 in the forward direction (FIG. 48(b)). As a result, the inner end 40a of the rotary drive device 40 and the first inner rod 1a(1) are screwed together again.

In step S22, the control unit section 82 determines the rotational pressure of the rotational drive device 40 (FIG. 48(b)). If the rotational pressure of the rotational drive device 40 is the predetermined pressure (OK), the control unit section 82 executes step S23. As a result, the inner end 40a and the first inner rod 1a(1) are screwed together with a predetermined torque. On the other hand, if the rotational pressure of the rotational drive device 40 is less than the predetermined pressure (NG), the control unit section 82 executes step S21 again.

In step S23, the control unit section 82 stops the rotation of the rotational drive device 40. As a result, the torque exerted by the rotary drive device 40 is transmitted to the threaded joint between the first inner rod 1a(1) and the second inner rod 1a(2).

In step S24, the control unit section 82 reversely rotates the rotational drive device 40 (FIG. 49(a)). As a result, the screw connection between the first inner rod 1a(1) and the second inner rod 1a(2) is released. Note that "the screw connection is released" here means that the screw fastening force becomes zero.

In step S25, the control unit section 82 feeds and raises the reader device 30 (FIG. 49(a)). As a result, the first inner rod 1a(1) and the second inner rod 1a(2) are separated.

In step S26, the control unit section 82 detects the inner rod removal position. "Inner rod take-out position" (inner tube take-out position) means that when the rotary drive device 40 slides laterally while maintaining the height position (depth), the inner clamp 22 of the rod changer 20 is This is the height position where the rod 1a(1) can be clamped. Note that this "inner rod removal position" is stored in advance in the storage section (for example, internal memory) of the control unit section 82.

When the height position of the rotary drive device 40 reaches the inner rod removal position (OK), the control unit section 82 executes step S27. On the other hand, if the height position of the rotational drive device 40 has not reached the inner rod removal position (NG), the control unit section 82 executes step S25 again.

In step S27, the control unit section 82 stops feeding the reader device 30. Thereby, the height position (depth) of the rotary drive device 40 is fixed at the "inner rod removal position".

In step S28, the control unit section 82 stops the rotation of the rotational drive device 40. As a result, the rotation of the first inner rod 1a(1) also stops. After that, the control unit section 82 executes "inner rod removal standby". Note that this "standby for taking out the inner rod" means that the rotation drive device 40 is temporarily prevented from sliding in the lateral direction until the rod changer 20 is ready to receive the first inner rod 1a (1). This is a process to be stopped.

In step S29, the control unit section 82 determines whether the rod changer 20 can receive the first inner rod 1a(1). The "state in which the inner rod can be received" herein refers to a state in which the swing bracket 26 of the rod changer 20 has turned toward the leader device 30, and the inner rod 1a or the outer casing 1b is not detected by the rod changer 20, and This means that the inner clamp 22 and the upper and lower outer clamps 23U, 23L are all open (FIG. 50(a)). If the rod changer 20 is able to receive the first inner rod 1a(1) (OK), the control unit section 82 executes step S30.

On the other hand, if the rod changer 20 is not able to receive the first inner rod 1a(1) (NG), the control unit section 82 puts the rod changer 20 into a state in which it can receive the inner rod.

In step S30, the control unit section 82 slides the rotary drive device 40 toward the rod changer 20 (FIG. 50(b)). As a result, the first inner rod 1a (1) fits into the inner clamp 22 of the rod changer 20 and the openings of the upper and lower outer members 23U and 23L.

In step S31, the control unit section 82 tightens the inner clamp (lower) 22 (FIG. 50(b)). This "inner clamp (lower)" means the cylinder 22b located on the lower side. Therefore, in this embodiment, the lower cylinder 22b is operated before the upper cylinder 22b.

In step S32, the control unit section 82 tightens the inner clamp (upper) 22 (FIG. 50(b)). This "inner clamp (upper)" means the cylinder 22b located on the upper side. Therefore, in this embodiment, the upper cylinder 22b is operated later than the lower cylinder 22b. Thereby, the inner clamp 22 clamps the first inner rod 1a(1).

In step S33, the control unit section 82 tightens the upper and lower outer clamps 23U and 23L (FIG. 50(b)). In this embodiment, the upper and lower cylinders of the upper and lower outer clamps 23U and 23L are operated at the same time. As a result, the first inner rod 1a(1) is clamped not only by the inner clamp 22 but also by the upper and lower outer clamps 23U and 23L.

In step S34, the control unit section 82 feeds and raises the reader device 30 (FIG. 51(a)). The inner end 40a of the rotary drive device 40 and the first inner rod 1a(1) are subjected to a force in a direction that separates them from each other.

In step S35, the control unit section 82 reversely rotates the rotational drive device 40 (FIG. 51(a)). As a result, the screw connection between the inner end 40a of the rotary drive device 40 and the first inner rod 1a(1) is released.

In step S36, the control unit section 82 determines whether the screw connection between the inner end 40a and the first inner rod 1a(1) is released. The determination is made based on the rotational pressure of the rotational drive device 40. If the screw connection between the inner end 40a and the first inner rod 1a(1) is released (OK), the control unit section 82 executes step S37. On the other hand, if the screw connection between the inner end 40a and the first inner rod 1a(1) is not released (NG), the control unit section 82 executes step S35 again.

In step S37, the control unit section 82 stops the rotation of the rotational drive device 40 (FIG. 51(b)).

In step S38, the control unit section 82 stops feeding the reader device 30 (FIG. 51(b)). As a result, the first inner rod 1a(1) has been transferred from the rotary drive device 40 to the rod changer 20.

In step S39, the control unit section 82 slides the rotational drive device 40 toward the reader device 30 (FIG. 52(a)). After that, the control unit section 82 performs a process of extubating the next second-ranked inner rod 1a (2) (steps S40 to S47), and removes the first-ranked inner rod 1a (1) gripped by the rod changer 20. The process of transferring to the rod stocker 10 (steps S48 to S53) is executed in parallel. Hereinafter, first, the process of extubating the second inner rod 1a(1) will be described.

In step S40, the control unit section 82 tightens the inner guide 62 of the centralizer 60. The axis of the inner rod 40a of the rotary drive device 40 is adjusted.

In step S41, the control unit section 82 feeds and lowers the reader device 30 (FIG. 52(b)). As a result, the inner end 40a of the rotary drive device 40 descends toward the second inner rod 1a (2).

In step S42, the control unit section 82 determines the depth of the rotary drive device 40 (FIG. 52(b)). When the rotary drive device 40 reaches a height position where the inner rod 40a of the rotary drive device 40 and the second inner rod 1a (2) can be screwed together (OK), the control unit section 82 performs step S43. Execute. Note that this "height position where screws can be fastened" is stored in advance in the storage section (for example, internal memory) of the control unit section 82.

On the other hand, if the rotary drive device 40 has not yet reached the height position where the inner rod 40a of the rotary drive device 40 and the second inner rod 1a (2) can be screwed together (NG), the control unit section 82 executes step S41 again.

In step S43, the control unit section 82 rotates the rotational drive device 40 in the forward direction (FIG. 52(b)).

In step S44, the control unit section 82 determines the connection between the inner rod 40a of the rotary drive device 40 and the second inner rod 1a(2) (FIG. 52(b)). The control unit section 82 determines the connection based on the rotational pressure (MPa) of the rotational drive device 40.

If the inner end 40a of the rotary drive device 40 and the second inner rod 1a (2) on the centralizer 60 side are connected at a predetermined rotational pressure (MPa) (OK), the control unit section 82 performs step S45. Execute. On the other hand, if the inner end 40a of the rotary drive device 40 and the second inner rod 1a (2) on the centralizer 60 side are not connected with the predetermined rotational pressure (MPa) (NG), the control unit section 82 steps Execute S43 again.

In step S45, the control unit section 82 stops the rotation of the rotational drive device 40.

In step S46, the control unit section 82 stops feeding the reader device 30.

In step S47, the control unit section 82 increases (increments) the number of inner rods to be removed by one. Thereafter, the control unit section 82 repeats the above steps until the number of inner rods that are pulled out reaches a predetermined number (the number of used rods). The other parallel process (transfer to the rod stocker 10) after the slide movement of the rotary drive device 40 (step S39) will be described below.

In step S48, the control unit section 82 rotates the rod changer 20 toward the rod stocker 10 (FIG. 52(a)).

In step S49, the control unit section 82 loosens the inner clamp (lower) 22 (FIG. 52(b)).

In step S50, the control unit section 82 loosens the inner clamp (upper) 22 (FIG. 52(b)).

In step S51, the control unit section 82 loosens the upper and lower outer clamps 23U and 23L (FIG. 52(b)).

In step S52, the control unit section 82 folds down the rod stocker 10.

In step S53, the control unit section 82 reverses the hydraulic motor 12 of the rod stocker 10 to transfer the first inner rod 1a(1) to the rod stocker 10. After that, the control unit section 82 confirms that the rod changer is removed. This "rod stocker removal confirmation" is a process for confirming that the inner rod 1a or outer casing 1b is not present in the rod stocker 10.

The above is the automatic inner rod removal mode. Next, the outer casing tube removal mode will be explained.

53 to 55 are control flow diagrams showing an automatic outer casing tube removal mode among the automatic operation modes of the drilling apparatus 100. 56 to 61 are explanatory diagrams showing the operation of the outer casing 1b in the automatic outer casing extubation mode.

This automatic outer casing extraction mode is a mode for extracting all the outer casings 1b from the ground among the double pipe rods 1 that have been rotated and penetrated into the ground after ground improvement work. For convenience of explanation, the outer casing 1b located at the highest position is referred to as the first outer casing 1b(1), and the outer casing 1b connected to the lower end of the first outer casing 1b(1) is the second outer casing 1b (2), and hereafter, the outer casing 1b connected to the lower end of the (n-1) outer casing 1b (n-1) is the n-th outer casing. 1b(n).

Further, it is assumed that the screw connection between the outer end 40b of the rotational drive device 40 and the first outer casing 1b(1) is maintained.

As shown in FIG. 53, in step S1, the control unit section 82 determines whether the outer end 40b of the rotary drive device 40 and the first outer casing 1b (1) on the drilling side are in a position where outer casing threading is possible. Determine. This "outer casing thread cutting possible position" means that the first clamp 71 can clamp the outer end 40b of the rotational drive device 40, and the third clamp 73 can clamp the first outer casing 1b (1). It means the depth (height position) of the rotary drive device 40. Note that this "outer casing threading possible position" is stored in advance in the storage section (for example, internal memory) of the control unit section 82.

In step S2, the control unit section 82 tightens the third clamp 73 on the centralizer 60 side (FIG. 56(a)). This restricts the rotation and vertical movement of the first outer casing 1b(1).

In step S3, the control unit section 82 tightens the first clamp 71 on the centralizer 60 side (FIG. 56(a)). As a result, rotation and vertical movement of the outer end 40b of the rotary drive device 40 are restricted.

In step S4, the control unit section 82 rotates the first clamp 71 (FIG. 56(a)). Thereby, the screw fastening between the outer end 40b and the first outer casing 1b(1) is released.

In step S5, the control unit section 82 loosens the first clamp 71 (FIG. 56(b)). Thereby, the outer end 40b of the rotary drive device 40 can freely rotate and move up and down.

In step S6, the control unit section 82 returns the first clamp 71 to its original rotational position (FIG. 56(b)). This allows the first clamp 71 to apply rotational torque again.

In step S7, the control unit section 82 loosens the third clamp 73 (FIG. 56(b)). Thereby, the first outer casing 1b(1) can freely rotate and move up and down.

In step S8, the control unit section 82 feeds and raises the reader device 30 (FIG. 56(b)). As a result, the first outer casing 1b(1) to the nth outer casing 1b(n) are pulled up to a predetermined height.

In step S9, the control unit section 82 determines whether the change in depth of the rotary drive device 40 is equal to or less than the outer casing length. If the change in depth of the rotary drive device 40 is less than or equal to the inner rod length (OK), the control unit section 82 executes step S10. On the other hand, if the change in depth of the rotary drive device 40 exceeds the inner rod length (NG), the control unit section 82 executes step S8 again. Note that the "change in depth" herein is defined by "change in depth" = "depth after change" - "depth before change". Regarding the sign of depth, the ground is zero and the vertically downward direction is positive. Therefore, the sign for "change in depth" is negative.

In step S10, the control unit section 82 stops feeding the reader device 30. Thereby, the first clamp 71 can clamp the first outer casing 1b(1), and the third clamp 73 can clamp the second outer casing 1b(2).

In step S11, the control unit section 82 determines whether the current number of tubes to be removed is equal to or less than the number of holes drilled (the number of rods used). If the current number of tubes to be removed is less than or equal to the number of used rods (OK), the control unit section 82 executes step S12. On the other hand, if the current number of tubes to be removed exceeds the number of used rods (NG), the control unit section 82 ends the automatic outer casing tube removal mode.

In step S12, the control unit section 82 determines whether the current depth is less than or equal to the drilling start depth. If the current depth is less than or equal to the drilling start depth (OK), the control unit section 82 executes step S13. On the other hand, if the current depth exceeds the drilling start depth (NG), the control unit section 82 ends the automatic outer casing extrusion mode.

In step S13, the control unit section 82 tightens the third clamp 73 on the centralizer 60 side (FIG. 57(a)). This restricts the rotation and vertical movement of the second outer casing 1b(2).

In step S14, the control unit section 82 tightens the first clamp 71 on the centralizer 60 side (FIG. 57(a)). This restricts the rotation and vertical movement of the first outer casing 1b(1).

In step S15, the control unit section 82 rotates the first clamp 71 on the centralizer 60 side (FIG. 57(a)). As a result, the screw fastening between the first outer casing 1b(1) and the second outer casing 1b(2) is loosened.

In step S16, the control unit section 82 loosens the first clamp 71 on the centralizer 60 side. Thereby, the first outer casing 1b(1) can freely rotate and move up and down.

In step S17, the control unit section 82 returns the first clamp 71 to its original rotational position. This allows the first clamp 71 to apply rotational torque again.

In step S18, the control unit section 82 loosens the third clamp 73 (FIG. 57(b)). Thereby, the second outer casing 1b(2) can freely rotate and move up and down.

In step S19, the control unit section 82 tightens the first clamp 71 (FIG. 57(b)). This restricts the rotation and vertical movement of the first outer casing 1b(1).

In step S20, the control unit section 82 rotates the rotational drive device 40 in the forward direction (FIG. 57(b)). As a result, the outer end 40b of the rotary drive device 40 and the first outer casing 1b(1) are screwed together again.

In step S21, the control unit section 82 determines the rotational pressure of the rotational drive device 40 (FIG. 57(b)). If the rotational pressure of the rotational drive device 40 is a predetermined pressure (OK), the control unit section 82 executes step S22. As a result, the outer end 40b and the first outer casing 1b(1) are screwed together again with a predetermined torque. On the other hand, if the rotational pressure of the rotational drive device 40 is less than the predetermined pressure (NG), the control unit section 82 executes step S20 again.

In step S22, the control unit section 82 stops the rotation of the rotational drive device 40. As a result, the tightening torque by the rotary drive device 40 is no longer applied to the threaded joint between the outer end 40b and the first outer casing 1b(1).

In step S23, the control unit section 82 reversely rotates the rotational drive device 40 (FIG. 58(a)). As a result, the screw connection between the first outer casing 1b(1) and the second outer casing 1b(2) is released. Note that "the screw connection is released" here means that the screw fastening force becomes zero.

In step S24, the control unit section 82 feeds and raises the reader device 30 (FIG. 58(a)). As a result, the first outer casing 1b(1) and the second outer casing 1b(2) are separated.

In step S25, the control unit section 82 detects the outer casing removal position (FIG. 58(b)). This "outer casing take-out position" (inner tube take-out position) refers to the upper and lower outer clamps 23U, 23L of the rod changer 20 when the rotary drive device 40 slides laterally while maintaining the height position (depth). is the height position at which the first outer casing 1b(1) can be clamped. Note that this "outer casing removal position" is stored in advance in the storage section (for example, internal memory) of the control unit section 82.

When the height position of the rotary drive device 40 reaches the outer casing removal position (OK), the control unit section 82 executes step S26. On the other hand, if the height position of the rotary drive device 40 has not reached the outer casing removal position (NG), the control unit section 82 executes step S24 again.

In step S26, the control unit section 82 stops feeding the reader device 30 (FIG. 59(a)). Thereby, the height position (depth) of the rotary drive device 40 is fixed at the "outer casing removal position".

In step S27, the control unit section 82 stops the rotation of the rotational drive device 40 (FIG. 59(a)). As a result, the rotation of the first outer casing 1b(1) also stops. After that, the control unit section 82 executes "outer casing removal standby". Note that this "standby for outer casing removal" means that the rotation drive device 40 is temporarily not slid laterally until the rod changer 20 is ready to receive the first outer casing 1b (1). This is a process to stop.

In step S28, the control unit section 82 determines whether the rod changer 20 can receive the first outer casing 1b(1). Note that the "state in which the rod changer 20 is ready to receive the first outer casing 1b(1)" as used herein means a state in which the swing bracket 26 of the rod changer 20 is turned toward the leader device 30 side, and the rod changer 20 is This means that the inner rod 1a or the outer casing 1b is not detected at the outer clamp 20, and the inner clamp 22 and the upper and lower outer clamps 23U, 23L are all open (FIG. 59(a)). If the rod changer 20 is able to receive the first outer casing 1b(1) (OK), the control unit section 82 executes step S29.

On the other hand, if the rod changer 20 is not capable of receiving the first outer casing 1b(1) (NG), the control unit section 82 puts the rod changer 20 in a state capable of receiving the outer casing.

In step S29, the control unit section 82 slides the rotational drive device 40 toward the rod changer 20 (FIG. 59(b)). As a result, the first outer casing 1b(1) fits into the inner clamp 22 of the rod changer 20 and the openings of the upper and lower outer 23U, 23L.

In step S30, the control unit section 82 tightens the upper and lower outer clamps 23U and 23L (FIG. 59(b)). As a result, the upper and lower outer clamps 23U and 23L clamp the first outer casing 1b (1).

In step S31, the control unit section 82 feeds and raises the reader device 30 (FIG. 60(a)). The outer end 40b of the rotary drive device 40 and the first outer casing 1b(1) are subjected to a force in a direction in which they are separated from each other.

In step S32, the control unit section 82 reversely rotates the rotational drive device 40 (FIG. 60(a)). As a result, the screw connection between the outer end 40b of the rotary drive device 40 and the first outer casing 1b(1) is released, and the outer end 40b and the first outer casing 1b(1) are separated. It turns out.

In step S33, the control unit section 82 determines whether the screw connection between the outer end 40b and the first outer casing 1b(1) is released (FIG. 60(a)). The determination is made based on the rotational pressure of the rotational drive device 40. If the screw connection between the outer end 40b and the first outer casing 1b(1) is released (OK), the control unit section 82 executes step S34. On the other hand, if the screw connection between the outer end 40a and the first outer casing 1b(1) is not released (NG), the control unit section 82 executes step S32 again.

In step S34, the control unit section 82 stops the rotation of the rotational drive device 40 (FIG. 60(b)).

In step S35, the control unit section 82 stops feeding the reader device 30 (FIG. 60(b)). As a result, the first outer casing 1b(1) has been transferred from the rotary drive device 40 to the rod changer 20.

In step S36, the control unit section 82 slides the rotational drive device 40 toward the reader device 30 (FIG. 61(a)). Thereafter, the control unit section 82 performs a process of extubating the next second outer casing 1b(2) (steps S37 to S43), and removes the first outer casing 1b(1) gripped by the rod changer 20. The process of transferring to the rod stocker 10 (steps S44 to S47) is executed in parallel. Hereinafter, the process of extubating the second outer casing 1b(2) will be described first.

In step S37, the control unit section 82 feeds and lowers the reader device 30 (FIG. 61(b)). As a result, the outer end 40b of the rotary drive device 40 descends toward the second outer casing 1b (2).

In step S38, the control unit section 82 determines the depth of the rotary drive device 40. When the rotary drive device 40 reaches a height position where the outer end 40b of the rotary drive device 40 and the second outer casing 1b (2) can be screwed together (OK), the control unit section 82 performs step S39. Execute. Note that this "height position where screws can be fastened" is stored in advance in the storage section (for example, internal memory) of the control unit section 82.

On the other hand, if the outer end 40b of the rotary drive device 40 and the second outer casing 1b (2) have not yet reached the height position where they can be screwed together (NG), the control unit section 82 performs step S37. Try again.

In step S39, the control unit section 82 rotates the rotational drive device 40 in the forward direction (FIG. 61(b)).

In step S40, the control unit section 82 determines the connection between the outer end 40b of the rotary drive device 40 and the second outer casing 1b(2) (FIG. 61(b)). The control unit section 82 determines the connection based on the rotational pressure (MPa) of the rotational drive device 40.

If the outer end 40b of the rotary drive device 40 and the second outer casing 1b (2) on the centralizer 60 side are connected at a predetermined rotational pressure (MPa) (OK), the control unit section 82 performs step S41. Execute. On the other hand, if the inner end 40a of the rotary drive device 40 and the second outer casing 1b (2) on the centralizer 60 side are not connected at a predetermined rotational pressure (MPa) (NG), the control unit section 82 steps Execute S40 again.

In step S41, the control unit section 82 stops the rotation of the rotational drive device 40.

In step S42, the control unit section 82 stops feeding the reader device 30.

In step S43, the control unit section 82 increases (increments) the number of outer casing pipes to be removed by one. After that, the control unit section 82 repeats the above steps until the number of outer casing pipes to be removed reaches a predetermined number. The other parallel process (transfer to the rod stocker 10) after the sliding movement of the rotary drive device 40 (step S36) will be described below.

In step S44, the control unit section 82 rotates the rod changer 20 toward the rod stocker 10 (FIG. 61(a)).

In step S45, the control unit section 82 loosens the upper and lower outer clamps 23U and 23L (FIG. 61(b)).

In step S46, the control unit section 82 raises the rod stocker 10.

In step S47, the control unit section 82 reverses the hydraulic motor 12 of the rod stocker 10 to transfer the first outer casing 1b(1) to the rod stocker 10. After that, the control unit section 82 confirms that the rod changer is removed. This "rod stocker removal confirmation" is a process for confirming that the outer casing 1b is not present in the rod stocker 10.

The above is the automatic outer casing extrusion mode. According to the drilling control unit 80 of the drilling device 100, a series of drilling operations from connecting the double pipe rod 1 to the rotary drive device 40 and drilling to the target depth to replenishing and extracting the double pipe rod 1 are performed. The hole process can now be performed automatically.

62 and 63 are control flow diagrams showing the post-drilling processing operation. FIGS. 64 and 65 are control flow diagrams showing the outer flushing operation in the drilling post-processing operation. It is an explanatory view showing operation of double tube rod 1 in a post-drilling treatment operation.

In step SS1, the control unit section 82 makes an announcement to the operator to perform mud removal processing. Note that this sludge removal process is a manual operation by the operator.

In step SS2, the control unit section 82 determines whether the current number of times of outer flushing is equal to or greater than a set number of times. If the current number of times is equal to or greater than the set number of times (OK), the control unit section 82 executes step SS11 (that is, ends the outer flushing). On the other hand, if the current number of times is less than the set number of times (NG), the control unit section 82 executes step SS3 (that is, continues outer flushing).

In step SS3, the control unit section 82 rotates the rotational drive device 40 in the forward direction (FIG. 64(a)).

In step SS4, the control unit section 82 feeds and raises the reader device 30 (FIG. 64(a)).

In step SS5, the control unit section 82 determines whether the current depth is less than or equal to the first outer flushing stop depth (FIG. 64(a)). The positive direction of depth is vertically downward. Therefore, "the current depth is less than or equal to the first outer flushing stop depth" means that the current depth exceeds or is equal to the first outer flushing stop depth in the vertical upward direction.

If the current depth is less than or equal to the first outer flushing stop depth (OK), the control unit section 82 executes step SS6. On the other hand, if the current depth does not exceed the first outer flushing stop depth vertically upward (NG), the control unit section 82 executes step SS4 again.

In step SS6, the control unit section 82 feeds and lowers the reader device 30 (FIG. 64(b)).

In step SS7, the control unit section 82 determines whether the current depth is equal to or greater than the second outer flushing stop depth (FIG. 64(b)). The positive direction of depth is vertically downward. Therefore, "the current depth is greater than or equal to the second outer flushing stop depth" means that the current depth exceeds or is equal to the second outer flushing stop depth in the vertical downward direction.

If the current depth is equal to or greater than the second outer flushing stop depth (OK), the control unit section 82 executes step SS8. On the other hand, if the current depth does not exceed the second outer flushing stop depth in the vertical downward direction (NG), the control unit section 82 executes step SS6 again.

In step SS8, the control unit section 82 stops the reader device 30.

In step SS9, the control unit section 82 stops the rotary drive device 40.

In step SS10, the control unit section 82 counts the number of times of outer flushing by one. That is, when the reader device 30 moves up and down the "after flushing distance" between the first and second outer flushing stop depths, the control unit section 82 counts the number of times of outer flushing by one.

Furthermore, since steps SS11 to SS16 are substantially the same as steps S1 to S6 in the automatic outer casing extubation mode (D mode) shown in FIG. 53, their explanation will be omitted here. . Similarly, steps SS17 to SS21 are substantially the same processes as steps S31 to S35 in the automatic outer casing extubation mode (D mode) shown in FIG. 54, so their explanation will be omitted here. do. The above is the outer flushing process. Next, the inner flushing process will be explained with reference to FIG. 63.

In step SS22, the control unit section 82 makes an announcement to the operator to perform mud removal processing. Note that this sludge removal process is a manual operation by the operator.

In step SS23, the control unit section 82 determines whether the current number of times of inner flushing is equal to or greater than a set number of times. If the current number of times is equal to or greater than the set number of times (OK), the control unit section 82 executes step SS32 (that is, ends the inner flushing). On the other hand, if the current number of times is less than the set number of times (NG), the control unit section 82 executes step SS24 (that is, continues outer flushing).

In step SS24, the control unit section 82 rotates the rotational drive device 40 in the forward direction (FIG. 65(a)).

In step SS25, the control unit section 82 feeds and raises the reader device 30 (FIG. 65(a)).

In step SS26, the control unit section 82 determines whether the current depth is less than or equal to the first inner flushing stop depth (FIG. 65(a)). The positive direction of depth is vertically downward. Therefore, "the current depth is less than or equal to the first inner flushing stop depth" means that the current depth exceeds or is equal to the first inner flushing stop depth in the vertical upward direction.

If the current depth is less than or equal to the first inner flushing stop depth (OK), the control unit section 82 executes step SS27. On the other hand, if the current depth does not exceed the first inner flushing stop depth vertically upward (NG), the control unit section 82 executes step SS25 again.

In step SS27, the control unit section 82 feeds and lowers the reader device 30 (FIG. 65(b)).

In step SS28, the control unit section 82 determines whether the current depth is equal to or greater than the second inner flushing stop depth (FIG. 65(b)). The positive direction of depth is vertically downward. Therefore, "the current depth is greater than or equal to the second inner flushing stop depth" means that the current depth exceeds or is equal to the second inner flushing stop depth in the vertical downward direction.

If the current depth is equal to or greater than the second outer flushing stop depth (OK), the control unit section 82 executes step SS29. On the other hand, if the current depth does not exceed the second inner flushing stop depth in the vertical downward direction (NG), the control unit section 82 executes step SS27 again.

In step SS29, the control unit section 82 stops the reader device 30.

In step SS30, the control unit section 82 stops the rotary drive device 40.

In step SS31, the control unit section 82 counts the number of times of inner flushing by one. That is, when the reader device 30 moves up and down the "inner flushing distance" between the first and second inner flushing stop depths, the control unit section 82 counts the number of times of inner flushing by one.

Furthermore, since steps SS32 to SS38 are substantially the same as steps S1 to S7 in the automatic inner rod removal mode (C mode) shown in FIG. 44, their explanation will be omitted here. . Similarly, steps SS39 to SS43 are substantially the same processes as steps S34 to S38 in the automatic inner rod tube removal mode (C mode) shown in FIG. 45, so their explanation will be omitted here. do. The above is the inner flushing process.

In this way, after one double-pipe rod 1 rotates and penetrates into the ground, the outer flushing process and the inner flushing process are performed for a predetermined distance and a predetermined number of times, thereby preventing the double-pipe rod 1 from clumping. It becomes possible to do so.

Regarding the outer/inner flushing distance and number of times, the outer/inner flushing distance, number of times, and presence/absence of sludge removal are determined for each feed lower limit position as shown below on the automatic drilling (A, B mode) preparation screen in Figure 25 above. 81a1.
(1) ○○m to ○○m range: Flushing distance, number of times, sludge removal (2) ○○m to ○○m range: Flushing distance, number of times, sludge removal (3) ○○m to ○○m range: Flushing distance, number of times, sludge removal (4) ○○m to ○○m range: Flushing distance, number of times, sludge removal (5) ○○m to ○○m range: Flushing distance, number of times, sludge removal

Although one embodiment of the present invention (the automatic operation mode of the drilling apparatus 100) has been described above with reference to the drawings, the embodiment of the present invention is not limited to the above. That is, various additions, modifications, and changes can be made within the technical scope of the present invention.

For example, when the drilling apparatus 100 is performing the automatic drilling mode (A mode), a part of the drilling water may not be returned to the drilling water tank 110 and may be lost. The drilling water plays the role of reducing the friction between the bit and the ground, and also discharging the earth, sand, and rocks generated when the bit drills into the ground to the outside by means of flowing water. Therefore, when water loss occurs, the ability to drain drilling water is weakened, making it difficult for sediment and rocks to be discharged to the outside, and as a result, it may take a long time to drill a hole to a predetermined depth. obtain.

Therefore, as shown in FIG. 66, a drainage flow meter 116 for measuring the drainage flow rate is installed in the middle of the drainage hose 115, and an abnormality judgment value (lower limit value) for the drainage flow rate is set as shown in FIG. 68. This makes it possible to detect abnormal water loss regarding return drilling water. The drainage flow meter 116 can be installed near the drilling water tank 110, for example. In this case, as shown in FIG. 67, the measurement signal of the drainage flow meter 116 is taken into the control unit section 82.

As shown in FIG. 69, the control unit section 82 determines the drainage flow rate based on the abnormality determination value (lower limit value) for the drainage flow rate set in advance by the operator in step S17, and the drainage flow rate is determined by the abnormality determination value (lower limit value). value), it is determined that abnormal water loss has occurred and measures are taken to prevent abnormal drainage flow.

Note that as a countermeasure against abnormal drainage flow rate, for example, hydraulic devices such as a hydraulic impact device, a rotary drive device, and a leader device are stopped, and an operator performs a visual inspection. If any abnormalities are found during the external inspection, the relevant areas will be repaired. If there is no abnormality in the visual inspection, the water supply flow rate abnormality countermeasures shown in FIG. 29 will also be implemented for the drainage flow rate.

In addition, as another means of detecting water loss, a liquid level gauge 119 is installed in the drilling water tank 110, and a lower limit value and an upper limit value for the capacity of drilling water in the drilling water tank 110 are set. It is also possible to detect water. That is, as shown in FIG. 69, in step S18, the control unit section 82 determines that the capacity of the drilling water tank 110 calculated based on the measured value by the liquid level gauge 119 is the lower limit value for the preset capacity. If the maximum value is exceeded, the control unit section 82 determines that abnormal water loss has occurred, and takes measures against abnormal drilling water capacity. Note that it is also possible to detect water loss based on the lower limit and upper limit of the water level of the borehole water instead of the capacity.

Additionally, if the borehole water contains excessive sand, silt, clay, etc. (hereinafter referred to as "excessive fine particles"), the specific gravity of the borehole water increases, causing an excessive load on the water pump 112. In the worst case, the water pump 112 may break down. If the water pump 112 fails, it becomes impossible to supply drilling water to the bit at the tip.

Therefore, as shown in FIG. 66, a viscometer 117 for measuring the viscosity of the drilling water, a turbidity meter 118 for measuring the turbidity of the drilling water, or both are installed in the drilling water tank 110. 110 and set the abnormality judgment value (upper limit) for the viscosity of the drilling water or the turbidity of the drilling water as shown in Figure 68, it is possible to prevent contamination due to excessive fine particles in the drilling water. It becomes possible to detect. As shown in FIG. 67, the measurement signal from the viscometer 117 or the turbidity meter 118 is taken into the control unit section 82.

As shown in FIG. 69, the control unit section 82 determines the viscosity of the drilling water based on the abnormality determination value (upper limit value) for the viscosity of the drilling water or the turbidity of the drilling water set in advance by the operator in steps S19 and S20. Or, the turbidity of the borehole water is determined respectively, and if the viscosity of the borehole water or the turbidity of the borehole water deviates from the abnormality judgment value (upper limit), contamination due to excessive fine particles in the borehole water has occurred. It is determined that this is the case and measures are taken to correct the viscosity or turbidity of the drilling water.

In addition, as a countermeasure for abnormality of drilling water viscosity or drilling water turbidity, for example, drilling water in the drilling water tank 110 may be reused by centrifugation treatment, filtration processing, chemical treatment, etc. Examples include replacing the drilling water in the drilling water tank 110 with new water. Centrifugation processing, filtration processing, and chemical processing are performed by a dedicated processing device (not shown).

In this manner, by monitoring the drainage flow rate of the drilling water, the capacity of the drilling water tank 110, or both thereof, it is possible to suitably detect lost water that weakens the mud-draining action of the drilling water. Furthermore, by monitoring the clay or turbidity of the borehole water, excessive contamination of the borehole water that degrades the performance of the water pump 112 can be detected to ensure good borehole water in the automatic drilling mode. Can be stably supplied.

(Automatic setting of drilling command value)
In addition, drilling command values (target feed speed (%), target feed pressure (MPa), target rotation (%), target rotational pressure (MPa), target percussion pressure (MPa), target water supply flow rate (L/min), and target water supply pressure (MPa)), instead of the operator manually setting them on the management monitor section 81. Furthermore, it is also possible for the control unit section 82 to automatically set the setting based on the soil quality, rock classification, and hardness of the ground where the hole is to be drilled.

In this case, the control unit section 82 refers to the "ground-drilling command value data" (FIG. 70) stored in advance in the storage section 81a (FIGS. 23 and 67) of the management monitor section 81, and controls the lifting drive. (reader device 30), rotation drive unit 40, impact drive unit 40d, and water pump 112. Details will be described later with reference to Fig. 70, but in this "ground-drilling command value data", the drilling command value for each drive unit is unique depending on the soil quality/rock classification and hardness (N value) of the ground. It is configured to be determined based on the

The soil quality, rock classification, and hardness (N value) of the ground are compiled into a database as "depth-ground data" (Figure 71) based on, for example, cores (soil samples) obtained from preliminary geological boring surveys. It is stored in advance in the storage section 81a of the management monitor section 81 so that the control unit section 82 can refer to it. This "depth-ground data" will be described later with reference to FIG. 71.

In addition, if "depth-ground data" is not compiled into a database, for example, the waste water discharged during drilling may be filtered, and the particle size of each particle contained in the waste water (stone content (75 mm or more), gravel By measuring the particle size distribution (2 mm or more to less than 75 mm), sand content (75 μm or more to less than 2 mm), fine particles (less than 75 μm), and the particle size distribution, the soil quality and rock classification can be determined in real time while drilling holes in the ground. It is also possible to classify. To give an example, the mass content of stones in waste water = 0%, the mass content of gravel > the mass content of sand, and the mass content of fine particles is less than 15%, and If the mass content is less than 15%, the soil type of the ground at that depth can be determined to be gravel soil (G).

In addition, the hardness of the ground (N value) suitably corresponds to the rotational torque or rotational pressure of the rotational drive device 40, so the rotational torque or rotational pressure of the rotational drive device 40 is measured while drilling a hole in the ground. By doing so, it is also possible to estimate the hardness of the ground (N value) in real time.

FIG. 70 is an explanatory diagram showing an example of ground-drilling command value data. FIG. 70(a) shows the ground-drilling command value matrix. FIG. 70(b) shows the drilling command value for each drive unit stored in the data address number on the ground-drilling command value matrix.

As shown in FIG. 70(a), the drilling command values for each drive unit are set in a matrix for each soil/rock classification and N value (N1, N2, N3, N4, N5, N6,...). It is possible to set it as follows. Data address numbers (No. 11, No. 12, No. 13, . . . ) are stored at each grid point.

As shown in FIG. 70(b), each data address number includes the feed speed (%) and feed pressure (MPa) of the reader device 30, the rotation speed (%) and rotation pressure (MPa) of the rotary drive device 40. , percussion pressure (MPa) of the hydraulic impact device 40d, and drilling command values for the water supply flow rate (L/min) and water supply pressure (MPa) of the water supply pump 112 are stored in advance.

As the drilling command value for each drive unit stored in each data address number, it is possible to employ, for example, the actual value when drilling in the ground having this soil type/rock classification and N value in the past. Furthermore, soil/rock classifications and N values for which there is no track record can be complemented by data interpolation methods such as interpolation or extrapolation.

Further, the drilling command value for each drive unit stored in each data address number is only a recommended value (reference value). Therefore, if any monitoring value exceeds a preset abnormal operation determination value (FIG. 25, FIG. 68), for example, data address number No. If drilling is performed using the drilling command value No. 11 and the elapsed drilling time exceeds the abnormal operation determination value, then the data address number No. The value of the drilling command value stored in 11 is appropriately increased or decreased until the elapsed drilling time falls within the normal value range, and automatic drilling is executed based on the increased or decreased drilling command value. It is also possible to

FIG. 71 is an explanatory diagram showing an example of depth-ground data. This depth-ground data can be obtained by analyzing collected cores (soil samples) obtained through a preliminary geological boring survey. Note that the classification of the soil quality and rock classification of the ground can be determined based on, for example, the Japan Geotechnical Society's standard JGS 0051 "Engineering classification method of ground materials". Furthermore, in JGS 0051, the classification of soil quality is defined as major classification, medium classification, and small classification, but in this embodiment, the classification of soil quality is limited to medium classification. Of course, it is also possible to classify the soil quality into subclassifications.

In addition to the soil quality and rock classification, the "N value", which is an index of the strength (hardness) of the ground, is also shown. Incidentally, the "N value" means a drive hammer with a mass of 63.5 kg ± 0.5 kg that is dropped freely from a height of 76 cm ± 1 cm and hits a knocking block attached to the head of the boring rod. This refers to the number of blows required to drive a standard penetration test sampler 30 cm. Note that if the N value cannot be obtained, the rotational torque or rotational pressure of the rotational drive device 40 is used instead of the N value because the N value corresponds favorably to the rotational torque or rotational pressure of the rotational drive device 40. It is also possible to do so.

Therefore, the control unit section 82 first calculates the drilling depth based on the measurement signal of the depth encoder, and then calculates the soil type/rock classification and hardness (N value) based on the "depth-ground data" (Fig. 71). Then, the drilling command value for each drive unit is determined based on the "ground-drilling command value data" (FIG. 70). In addition, if "depth-ground data" cannot be obtained in advance, the soil quality and rock classification can be estimated by measuring the particle size and particle size distribution of particles contained in the wastewater, and the hardness of the ground (N value) can be estimated. ), the hardness of the ground (N value) is estimated by measuring the rotational torque of the rotary drive unit, and then drilling is performed for each drive unit based on the “ground-drilling command value data” (Figure 70). It is also possible to determine a hole command value.

Each drilling command value determined according to soil quality, rock classification and hardness is only a recommended value (standard value), and if any monitoring value exceeds a preset abnormal operation judgment value, it will be within the normal value range. The drilling command value is increased or decreased as appropriate until it falls within the range, and automatic drilling is executed based on the increased or decreased drilling command value. In this way, the drilling command values for the lifting drive unit (reader device 30), rotation drive unit 40, hydraulic impact device 40d, and water pump 112 are always selected to be optimal values depending on the soil quality, rock classification, and hardness. will be done.

(Automatic setting of abnormal operation judgment value)
Also, the abnormal operation determination values (FIGS. 25 and 68) for each drive section in the automatic drilling mode (A, B mode) can be set manually in the control unit instead of being manually set by the operator in the management monitor section 81. It is also possible to automatically set the setting based on the soil quality, rock classification, and hardness of the ground where the hole 82 is to be drilled. Similarly, in this case, the abnormal operation judgment values for each drive part should be set in a matrix for each soil type/rock classification and N value (N1, N2, N3, N4, N5, N6, etc.). is possible. Each grid point stores a data address number (No. 11, No. 12, No. 13, etc.), and each data address number stores each abnormal operation judgment value for each drive section. It will be stored together with the drilling command value for or separately from the drilling command value.

1 Double pipe rod (steel pipe)
1a Inner rod 1b Outer casing 10 Rod stocker (steel pipe stock device)
11 Transfer chain (transfer means, endless power transmission means)
12 Hydraulic motor (motor)
12a Rotating shaft 12b Rotating shaft 13 Stopper pin (stopper member)
14 Back frame (push member)
15U Upper pipe support bracket 15U1 Protrusion 15L Lower pipe support bracket 15L1 Protrusion 16U Upper movement regulating plate 16U1 Upper bent part 16L Lower movement regulating plate 16L1 Lower bent part 17 Support 17a Vertical rib plate 17b Connection pin 18 Support bracket 18a Recess 19 Hydraulic pressure Cylinder (cylinder actuator)
19a Rod 19b Cylinder body 19c Rod connecting pin 19d Main body connecting pin 20 Rod changer (axis center adjustment device)
21 Inner guide 21a Tapered surface (tapered inner peripheral surface)
21b Through hole 21c Upper arm 21d Lower arm 22 Inner clamp 22a V-shaped taper mechanism 22b Cylinder 22c Upper clamp arm 22d Lower clamp arm 23U Upper outer clamp (first gripping mechanism)
23Ua V-shaped roller taper mechanism 23Ub Upper outer clamp cylinder 23Uc Upper clamp arm 23Ud Lower clamp arm 23L Lower outer clamp (first gripping mechanism)
23La V-shaped taper mechanism 23Lb Lower outer clamp cylinder 23Lc Upper clamp arm 23Ld Lower clamp arm 24 Clamp slide mechanism 25 Inner centering cylinder 25a Rod 25b Cone shape (tapered outer peripheral surface)
26 Swing bracket 27 Swing actuator 28U Upper connecting member 28L Lower connecting member 29 Rod changer column 30 Leader device 31 Chain 32 Head slide mechanism 33 Hydraulic motor for chain 40 Rotation drive device 40a Inner end (inner rotation end)
40b Outer end (outer rotation end)
40c Hydraulic motor 40d Hydraulic impact device 50 Structure 60 Centralizer (guide mechanism)
61 Outer guide 61a Tapered surface 61b Opening (other opening)
62b Opening 62c Top surface 62L Left inner guide 62La Left tapered surface (tapered surface)
62R Right inner guide 62Ra Right tapered surface (tapered surface)
63L Left cylinder 63R Right cylinder 64 Accommodation bracket 65 Bolt 71 First clamp (first gripping mechanism)
72 Second clamp (second gripping mechanism)
73 Third clamp (third gripping mechanism)
81 Management monitor section (data input device)
82 Control unit section (mechanical control section)
82a Speed/pressure control section 82b Measurement section 82c Judgment section 100 Drilling device 110 Drilling water tank 111 Water supply hose 112 Water supply pump 113 Flowmeter 114 Fifth pressure sensor 115 Drainage hose (drainage transfer means)
116 Drainage flow meter 117 Viscometer 118 Turbidity meter 119 Liquid level meter (level meter)

Claims (19)

a rotation drive device (40) that rotates and penetrates a double pipe (1) consisting of an inner pipe (1a) and an outer pipe (1b) into at least underground, rock, and structures;
a leader device (30) that guides the double pipe (1) in an arbitrary construction direction while supporting the rotary drive device (40);
an axis adjustment device (20) capable of adjusting the axis of the double pipe (1) in a predetermined direction and rotating the double pipe (1);
a double pipe stock device (10) capable of transporting the double pipe (1) to the axis adjustment device (20) and raising and lowering the double pipe (1);
a first gripping mechanism (71) provided below the leader device (30) to grip the inner tube (1a) and loosen screws between the inner tubes (1a) or the outer tubes (1b);
a second gripping mechanism (72) provided below the first gripping mechanism (71) and gripping the inner tube (1a);
a third gripping mechanism (73) provided below the second gripping mechanism (72) and gripping the outer tube (1b);
a data input device (81) for inputting command values for at least the rotary drive device (40) and the reader device (30) or a target depth for drilling depth;
A machine control unit (82) that individually controls at least the double pipe stock device (10), the axis adjustment device (20), the leader device (30), and the rotation drive device (40). A hole device,
The machine control unit (82) includes feed position detection means for detecting the position of the rotational drive device (40) on the reader device (30);
Stock device side rod detection means for detecting the presence of the double pipe (1) in the double pipe stock device (10);
a shaft center adjustment device side rod detection means for detecting the presence of the double pipe (1) in the shaft center adjustment device (20);
A turning position detection means for detecting on which side of the double pipe stock device (10) or the leader device (30) the double pipe (1) is located in the axis adjustment device (20). A drilling device characterized by comprising: The drilling device according to claim 1,
The machine control unit (82) includes first gripping mechanism rod detection means for detecting the presence of the double pipe (1) in the first gripping mechanism (71), and a first gripping mechanism rod detection means for detecting the presence of the double pipe (1) in the second gripping mechanism (72). A drilling device comprising: second gripping mechanism rod detection means for detecting the presence of the pipe (1). The drilling device according to claim 1 or 2,
The machine control unit (82) controls the feed pressure and feed speed of the leader device (30), the flow rate of drilling water, and Abnormality determination processing for all or part of the water supply pressure, the rotational pressure of the rotary drive device (40), and the elapsed time after the start of drilling, and if an abnormality is detected, abnormality countermeasures to eliminate the abnormality. A drilling device characterized by being configured to perform processing individually and repeatedly. The drilling device according to any one of claims 1 to 3,
The machine control unit (82) stores in advance a position on the double pipe stocking device (10) where the double pipe (1) can be raised and lowered when the double pipe (1) is transferred. Features of drilling equipment. The drilling device according to any one of claims 1 to 4,
The machine control unit (82) is configured such that the first gripping mechanism (71) fixes the inner rotation end (40a) of the rotational drive device (40), and the second gripping mechanism (72) holds the inner tube (1a). an “inner rod threading possible position” of the rotary drive device (40) that can be fixed;
The rotation in which the first gripping mechanism (71) can fix the outer rotation end (40b) of the rotary drive device (40) and the third gripping mechanism (73) can fix the outer tube (1b). A hole-drilling device characterized in that an "outer casing thread cutting possible position" related to a drive device (40) is stored in advance. The drilling device according to any one of claims 1 to 5,
The mechanical control unit (82) controls the axis adjustment device when sliding the inner tube (1a) connected to the rotary drive device (40) by a predetermined distance in the lateral direction while maintaining its height position. (20) “inner tube retrieval possible position” of the rotary drive device (40) that can be gripped by the rotation drive device (40);
When the outer tube (1b) connected to the rotary drive device (40) is slid horizontally by a predetermined distance while maintaining its height position, the outer tube (1b) can be gripped by the axis adjustment device (20). A hole drilling device characterized in that possible "outer tube retrieval positions" related to the rotary drive device (40) are stored in advance. The drilling device according to any one of claims 1 to 6,
The mechanical control unit (82) determines the height position of the inner tube (1a) and the outer tube (1b) of the double tube (1) when gripped by the axis adjustment device (20). A drilling device characterized by being memorized in advance. The drilling device according to any one of claims 1 to 7,
The machine control unit (82) operates in an automatic drilling mode in which the target ground is automatically drilled to a target depth, and an automatic rod replenishment mode in which the double pipes (1) are automatically added sequentially until a predetermined number is reached. There is an automatic inner pipe removal mode in which only the inner pipe (1a) of the double pipe (1) penetrated into the ground is automatically pulled up one by one and transferred to the double pipe stocking device (10) one after another; It is characterized by having an automatic outer tube removal mode in which only the outer tube (1b) of the penetrated double tube (1) is automatically pulled up and sequentially transferred to the double tube stocking device (10). Drilling equipment. 9. The drilling device according to claim 8, wherein the mechanical control unit (82) controls the rotary drive device a predetermined distance and number of times each time one double pipe (1) is rotated and penetrated to a predetermined depth. A drilling device characterized in that the leader device (30) is raised and lowered while rotating the leader device (40). The drilling device according to claim 5,
The machine control unit (82) loosens the screw connection between the inner rotation end (40a) and the inner tube (1a) in the automatic inner tube removal mode, and then tightens the screw again with a predetermined rotational torque. A drilling device characterized by: The drilling device according to claim 5,
The machine control unit (82) loosens the screw connection between the outer rotation end (40b) and the outer tube (1b) in the automatic outer tube removal mode, and then tightens the screw again with a predetermined rotational torque. A drilling device characterized by: The drilling device according to any one of claims 1 to 11,
A drilling device characterized in that the rotation drive device (40) has a striking device (40d) that applies impact force to the double pipe (1). The drilling device according to any one of claims 1 to 12,
The rotary drive device (40) is a wastewater transfer means for transferring wastewater discharged from between the inner pipe (1a) and the outer pipe (1b) of the double pipe (1) to a storage tank (110). (115), and a drainage flowmeter (116) for measuring the flow rate of drainage is connected to the drainage transfer means (115). The drilling device according to claim 13,
The storage tank (110) is equipped with a liquid level meter (119) for measuring the water level of the drilling water, a viscometer (117) for measuring the viscosity of the drilling water, or a turbidity meter (117) for measuring the turbidity of the drilling water. 118) A drilling device characterized in that some or all of the above are connected. The drilling device according to claim 13 or 14,
Drilling command values for the leader device (30), the rotary drive device (40), the impact device (40d), and the water pump (112) are predefined according to the soil quality and rock classification of the ground and its hardness. The machine control unit (82) is provided with ground-drilling command value data to perform drilling. The drilling device according to claim 15,
The machine control unit (82) determines the soil quality of the ground based on the particle size and particle size distribution of particles contained in the waste water transferred to the storage tank (110). The drilling device according to claim 15 or 16,
The machine control unit (82) determines the hardness of the ground based on the rotational torque or rotational pressure of the rotational drive device (40). The drilling device according to claim 17,
Abnormal operation determination values for the leader device (30), the rotary drive device (40), the impact device (40d), and the water pump (112) are determined in advance according to the soil quality and rock classification of the ground and its hardness. The machine control unit (82) is provided with ground-abnormal operation determination value data that defines the ground. The drilling device according to any one of claims 16 to 18,
When the current value of the drilling command value for the leader device (30), the rotary drive device (40), the impact device (40d), or the water pump (112) deviates from the abnormal operation determination value, A drilling apparatus characterized in that the machine control unit (82) controls the drilling command value other than the current drilling command value by increasing or decreasing the drilling command value so as not to deviate from an abnormal operation determination value.