JP7470482B2 - Drilling system and method - Google Patents

Description

The present invention relates to a drilling system and a drilling method for drilling holes in concrete structures.

For concrete structures that are in contact with the ground, whether above ground, underground, or semi-underground, or that are constructed above ground near railways or roads, a construction method is used in which holes are drilled from one side of the structure, an anchoring material is filled into the hole, and then post-installed shear reinforcement bars (hereafter referred to as "shear reinforcement bars") are inserted to integrate the bars with the structure, thereby improving the shear resistance of the structure, in order to reinforce the structure against earthquakes.

In addition, for existing structures such as roads, bridges, dams, and levees that have concrete frameworks, a method of pouring additional concrete is used to maintain and reinforce the strength of the structures by drilling holes at specified intervals into the sides and top and bottom of the framework, embedding post-installed anchors, and then arranging reinforcement so that the post-installed anchors are connected.

During drilling work, the on-site worker holds the handle and side handle of the drilling device, which are heavy objects, firmly with both hands and presses the bit against the drilling position in the structure to continue digging.

For example, Patent Document 1 (JP Patent Publication No. 2016-037787) is known as a method for shear reinforcement of structures. For example, Patent Document 2 (JP Patent Publication No. 2018-131848) is known as a method for pouring additional concrete into structures.

JP 2016-037787 A JP 2018-131848 A

Now, in order to reinforce a structure against earthquakes, many holes must be drilled in the structure to embed the shear reinforcing bars. Similarly, with the additional drilling method, many holes must be drilled in the structure to embed the post-installed anchors. This means that work using the conventional drilling device mentioned above becomes hard work, resulting in poor work efficiency.

If it were possible to automatically drill multiple holes in a concrete structure, workers would be freed from the task of drilling holes and be able to perform other tasks, improving work efficiency and shortening construction time.

However, concrete structures contain rebars and buried objects (such as pipes), which can be obstacles to automatic drilling.

The present invention was made in light of the above technical background, and aims to provide a drilling system and a drilling method that can automatically drill multiple holes in a concrete structure.

In order to solve the above problem, the drilling system of the present invention described in claim 1 comprises a drilling condition storage unit storing drilling conditions including the drilling order, the drilling positions, and the drilling depth of a plurality of holes to be drilled in a concrete structure, a drilling device that has a drilling machine that can be moved in the vertical and horizontal directions and drills a plurality of holes in the structure, a drilling state detection unit that has a drilling position detection unit that detects the hole position drilled by the drilling machine and a drilling depth detection unit that detects the hole depth drilled by the drilling machine, and a drilling condition detection unit that reads the drilling conditions in the drilling condition storage unit and sequentially drills holes by the drilling device based on the drilling conditions. The drilling condition storage unit stores the results of the drilling performed by the drilling device, and when the drilling condition detection unit detects that the drilling machine is unable to drill a hole of a depth that conforms to the drilling conditions, the drilling condition storage unit stores the updated drilling conditions for the hole in question, so that the drilling position is shifted and the hole is drilled only in that hole, if the drilling condition detection unit detects that the drilling machine is unable to drill a hole of a depth that conforms to the drilling conditions, the drilling condition storage unit stores the updated drilling conditions for the hole in question, so that the hole is drilled in a shifted position.

The drilling system of the present invention described in claim 2 is the invention described in claim 1, characterized in that the drilling positions in the drilling conditions are specified by coordinate data or a combination of the number of holes and the drilling pitch.

The drilling system of the present invention described in claim 3 is characterized in that, in the invention described in claim 1 or 2, the drilling depth under the drilling conditions is composed of the drilling depth at low impact pressure by the drilling machine and the subsequent drilling depth at high impact pressure.

The drilling system of the present invention described in claim 4 is the invention described in any one of claims 1 to 3 above, characterized in that the drilling condition detection unit determines that the drilling machine cannot drill a hole that meets the drilling conditions when drilling stagnates or when the drilling depth does not reach a set value within a specified time.

The drilling system of the present invention described in claim 5 is characterized in that, in the invention described in any one of claims 1 to 4 above, the drilling condition storage unit stores the updated drilling conditions so that the drilling position is shifted vertically, horizontally, or vertically and horizontally.

The drilling system of the present invention described in claim 6 is characterized in that, in the invention described in any one of claims 1 to 5 above, it further has an output unit that outputs the drilling conditions stored in the drilling condition memory unit and the drilling results stored in the drilling result memory unit by comparing them for each drilled hole .

The drilling system of the present invention described in claim 7 is the invention described in claim 6, characterized in that the output unit also outputs the judgment results of holes that meet the drilling conditions and holes that do not meet the drilling conditions.

In order to solve the above problem, the drilling method of the present invention described in claim 8 is a method for automatically drilling a plurality of holes in a concrete structure using a drilling device in which the drilling machine can move vertically and horizontally, and includes a drilling condition reading process for reading drilling conditions that set the drilling conditions including the drilling order, drilling position, and drilling depth of the plurality of holes to be drilled in the structure, a drilling process for sequentially drilling holes using the drilling device based on the drilling conditions read in the drilling condition reading process, and for holes for which the drilling machine cannot drill to a depth that conforms to the drilling conditions, stopping drilling and drilling the next hole in the drilling order, and a drilling result storage process for storing the results of drilling by the drilling device, and in the drilling condition reading process, if there is a hole for which it was not possible to drill to a depth that conforms to the drilling conditions in the drilling result stored in the drilling result storage process, the drilling condition reading process reads the updated drilling conditions so that the hole is drilled by shifting the drilling position for that hole only.

The drilling method of the present invention described in claim 9 is the invention described in claim 8 above, characterized in that the drilling positions in the drilling conditions are specified by coordinate data or a combination of the number of holes and the drilling pitch.

The drilling method of the present invention described in claim 10 is the invention described in claim 8 or 9, characterized in that the drilling depth under the drilling conditions is composed of the drilling depth at low impact pressure by the drilling machine and the subsequent drilling depth at high impact pressure.

The hole-drilling method of the present invention described in claim 11 is the invention described in any one of claims 8 to 10 above, characterized in that in the hole-drilling step, hole-drilling is stopped when hole-drilling stagnates or when the hole-drilling depth does not reach a set value within a predetermined time.

The drilling method of the present invention described in claim 12 is the invention described in any one of claims 8 to 11 above, characterized in that in the drilling condition reading step, the updated drilling conditions are read so that the drilling position is shifted vertically, horizontally, or vertically and horizontally.

The hole-drilling method of the present invention described in claim 13 is characterized in that, in the invention described in any one of claims 7 to 12 above, it further has an output process of comparing and outputting the drilling conditions read in the hole-drilling condition reading process and the drilling results stored in the hole-drilling result storage process for each drilled hole .

The drilling method of the present invention described in claim 14 is the invention described in claim 13, characterized in that in the output process, the judgment results of holes that meet the drilling conditions and holes that do not meet the drilling conditions are also output.

In the present invention, when drilling a concrete structure, the drilling conditions including the drilling positions and drilling depths of multiple holes are read, and the holes are drilled sequentially using the drilling device based on the drilling conditions. For any hole that the drilling machine is unable to drill to a depth that conforms to the drilling conditions, drilling is stopped and the next hole in the drilling sequence is drilled. If there is a hole that it is unable to drill to a depth that conforms to the drilling conditions, updated drilling conditions are applied to that hole only, and the hole is drilled at a shifted drilling position.

Therefore, for holes that the drilling machine is unable to drill to a depth that meets the drilling conditions, the drilling position is shifted and the holes are drilled, making it possible to automatically drill the desired number of holes to a depth that meets the drilling conditions in the structure.

An explanatory diagram showing a portion of a concrete structure that has been earthquake-proofed by inserting shear reinforcement bars into holes drilled by a hole-drilling system according to one embodiment of the present invention. A side view showing a drilling device that constitutes a drilling system according to one embodiment of the present invention. FIG. 2 is a front view of the drilling device of FIG. 1 . FIG. 2 is a plan view of the drilling device of FIG. 1 . 4 is a cross-sectional view taken along line VV in FIG. 3. 6 is a cross-sectional view taken along line VI-VI in FIG. 2. An explanatory diagram showing the arrangement of chains provided on a drilling device that constitutes a drilling system in one embodiment of the present invention. 1 is a block diagram showing a drilling system according to one embodiment of the present invention. FIG. An explanatory diagram showing a hole drilled by a drilling system according to one embodiment of the present invention and reinforcing bars placed within a structure. 1 is a flowchart illustrating a process for automatically drilling holes in a concrete structure using a hole drilling system according to one embodiment of the present invention.

Below, an embodiment of the present invention will be described in detail with reference to the drawings. In the drawings for explaining the embodiment, the same components are generally designated by the same reference numerals, and repeated explanations will be omitted.

The drilling device A, which is a component of the drilling system SYS of this embodiment, is used to drill a hole H from one side as one step of reinforcement work for an existing concrete structure S that contacts the ground G as shown in FIG. 1, or an existing concrete structure (not shown) constructed on the ground near a building such as a railway or road. After filling the inside of the drilled hole H with an anchoring material M, the shear reinforcement bar R is inserted and integrated with the structure S, thereby improving the shear resistance of the structure S. Note that the shear reinforcement bar R may be, for example, a commonly used rebar R1 that has been threaded and diagonally cut on one side and has a hexagonal nut (anchor) R2 attached to the tip.

As shown in Figures 2 to 6, the hole-drilling device A of this embodiment includes a main frame (main body) 10 that is made of steel rods such as columns (square steel pipes) and H-shaped steel beams and has a rectangular shape, a lifting frame (lifting member) 20 that is similarly made of steel such as columns and H-shaped steel beams and is arranged so that it can be raised and lowered within the main frame 10, and a drifter (hole-drilling machine) 30 that is attached to the lifting frame 20 and drills holes in the concrete structure S in front of it.

As shown in Figure 3, the main frame 10 has openings at the front and back, while as shown in Figures 2 and 5, the sides have girders 11 attached at multiple locations (two in this case) on the top and bottom, and braces 12 are provided to ensure the required strength. As shown in Figures 4 and 6, the lifting frame 20 is made up of four frame rods 21 that form a rectangle, and as shown in Figures 2, 5, and 6, it is fitted into guide rails 14 that are provided along four pillars 13 that extend up and down the main frame 10, and moves up and down within the open area on the front while being guided by the guide rails 14.

As shown in FIG. 5, the drifter 30 is composed of a rod 32 with a bit 31 attached to the tip, and a rock drill 33, which is the main body of the drifter, that applies impact force, rotational force, and thrust to the rod 32, and drills a hole H of a predetermined depth in a concrete structure S. The drifter 30 is capable of moving laterally on the lifting frame 20 so that it can move to a desired position on the open front side, and can also move forward and backward to drill a hole in the structure S through the open front side. In this embodiment, the maximum forward and backward movement of the drifter 30 is approximately 1200 mm, and the maximum drilling diameter of the bit 31 is approximately 40 mm.

However, including the cases described below, the various numerical values (dimensions, movement distances, etc.) in the drilling device A of this embodiment are merely examples and are not limiting, and it goes without saying that numerical values other than these can be set.

A cylindrical dust cover 85 is provided around the outer periphery of the rod and can be moved back and forth to prevent the scattering of dust generated during drilling. The dust cover 85 is connected to a dust collector 86 (Fig. 8) via a dust collection hose 85a (Figs. 4 and 6), and the generated dust is sucked up by the dust collector 86 under negative pressure.

The drilling device A is equipped with a rock drill 33 and a compressor CP that supplies compressed air to the air motor 53 and slide jack 72 described below (see Figure 8).

Next, we will explain in detail the lateral movement mechanism and forward/backward movement mechanism of the drifter 30.

As shown in Figures 4 and 6, the lifting frame 20 is provided with a lateral movement member 40 that moves laterally on the lifting frame 20. The lateral movement member 40 is also provided with an advancing and retreating member 50 that can reciprocate in a direction perpendicular to the movement direction of the lateral movement member 40. The advancing and retreating member 50 moves the drifter 30 forward and backward, and the lateral movement member 40 moves the advancing and retreating member 50 laterally, so that the drifter 30 can move laterally and forward and retreat.

In FIG. 6, the lateral movement member 40 includes a lateral movement guide rail 41 extending laterally along the frame rod 21 located at the rear of the rectangular lifting frame 20, a lateral movement body 42 that is elongated in the front-rear direction and slides along the lateral movement guide rail 41, and a ball screw 44 that is screwed into the lateral movement body 42 and is driven to rotate by a lateral movement motor 43. The drifter 30 is also installed on the lateral movement body 42 via an advance/retract member 50. Therefore, the lateral movement body 42 moves along the lateral movement guide rail 41 due to the rotation of the ball screw 44, and the drifter 30 moves laterally on the lifting frame 20 within the front opening range. In this embodiment, the lateral movement amount of the drifter 30 is about 500 mm.

4 and 6, the forward/backward member 50 includes a forward/backward guide rail 51 provided along the cross body 42, a slider 52 that slides along the forward/backward guide rail 51, and an endless belt 54 that slides the attached slider 52 by being driven in rotation by an air motor 53. The drifter 30 is mounted on the slider 52. Therefore, the endless belt 54 rotates due to the rotation of the air motor 53, and the slider 52 moves along the forward/backward guide rail 51, so that the drifter 30 moves forward/backward on the lifting frame 20. In this embodiment, the forward/backward movement amount of the drifter 30 is approximately 1200 mm at maximum. In this embodiment, the endless belt 54 is a non-metallic rubber belt, but it may be a metal belt. In addition, the endless belt 54 may be rotated by an electric motor that rotates by being supplied with electricity, instead of the air motor 53 that rotates by compressed air.

Next, we will explain the lifting mechanism of the lifting frame 20.

As shown in FIG. 3, the lifting mechanism is composed of a chain 60 that suspends the lifting frame 20, a lifting motor 61 that raises and lowers the chain 60 to raise and lower the lifting frame 20, and a sprocket 62 around which the chain 60 is stretched.

The chain 60 is composed of a first chain 60a and a second chain 60b, one end of which is attached to the center of two opposing sides of the lifting frame 20. That is, as shown in Figures 3, 4 and 6, one end of the first chain 60a and the second chain 60b is attached to the upper center of the two frame rods 21 on the left and right, which are components of the rectangular lifting frame 20. The other ends of the first chain 60a and the second chain 60b are attached to the lower center of the frame rod 21 on the opposite side.

The chain 60 is attached to the left and right frame rods 21 because if it were attached to the front and rear frame rods 21, it would interfere with the drifter 30, which moves laterally.

As shown in Figures 3 and 7, sprockets 62a and 62b are arranged in the center of the front-rear direction on the upper left and right sides of the main frame 10, and sprockets 62c and 62d are arranged in the center of the front-rear direction on the corresponding lower left and right sides. In addition, sprocket 62e is arranged between the lifting motor 61 and sprocket 62d located near the lifting motor 61, and at a position slightly higher than sprocket 62d. Furthermore, a drive sprocket 61a is attached to the lifting motor 61.

The sprockets 62b, 62d, and 62e on the side where the drive sprocket 61a and the lifting motor 61 are located (the right side in the figure) are single-double sprockets, with two sprockets integrated on the same axis, allowing two chains 60 (the first chain 60a and the second chain 60b) to be stretched across them. The sprockets 62a and 62c on the opposite side (the left side in the figure) are single sprockets, allowing only the first chain 60a to be stretched across them.

As shown in FIG. 3, the first chain 60a is hung from an upper mounting position on the left side of the lifting frame 20 upwardly around sprockets 62a, 62b, 62e, drive sprocket 61a, sprocket 62d, and sprocket 62c, and reaches a lower mounting position on the left side of the lifting frame 20. The second chain 60b is hung from an upper mounting position on the right side of the lifting frame 20 upwardly around sprockets 62b, 62e, drive sprocket 61a, and sprocket 62d, and reaches a lower mounting position on the right side of the lifting frame 20.

In this embodiment, the amount of lifting and lowering of the lifting frame 20 (the amount of movement in the vertical direction), i.e., the amount of lifting and lowering of the drifter 30 installed on the lifting frame 20, is approximately 1750 mm.

In FIG. 3, when the lifting motor 61 rotates clockwise and the first chain 60a and the second chain 60b rotate, the lifting frame 20 is lifted by these chains 60 and rises. Also, in FIG. 3, when the lifting motor 61 rotates counterclockwise and the first chain 60a and the second chain 60b rotate in the opposite direction, the lifting frame 20 is suspended by these chains 60 and falls.

The lifting motor 61, which raises and lowers the lifting frame 20, and the aforementioned traverse motor 43, which moves the traverse body 42, constitute the drifter movement unit (drilling machine movement unit) 34, which moves the drifter 30 (up and down and lateral directions) (see Figure 8).

Now, as shown in Figures 2 to 4, reaction force transmission parts (reaction force transmission means) 70 are installed at two locations on the left and right sides of the upper end of the main frame 10 to transmit the thrust reaction force during drilling to the structure S that is the target of drilling. This reaction force transmission part 70 consists of a suction pad 71 that is attached to the structure S by the negative pressure suction force of a vacuum pump 73 (Figure 8), and a slide jack 72 that moves the suction pad 71 forward and backward. When drilling, the slide jack 72 extends the suction pad 71 forward and presses it against the structure S, and the vacuum pump 73 adheres the suction pad 71 to the structure S. This provides a thrust reaction force when drilling the structure S with the drifter 30, making it possible to drill the hole smoothly.

It is preferable that the reaction force transmission unit 70 is installed at two locations, one on the left and one on the right of the upper end of the main frame 10 as in this embodiment, but it may also be installed at one location on either the left or right of the upper end, at one location in the center of the upper end, or at a location other than the upper end.

Now, as shown in Figures 2, 3 and 5, in the drilling device A of the present application, a running rail 80 is laid along the concrete structure S to be drilled (more specifically, so that the drilling device A and the wall of the structure S to be drilled are parallel). A plurality of rollers 82 (four in this embodiment) that are driven by a traveling motor 81 and roll on the running rail 80 are attached to the lower part of the main frame 10. The rollers 82 are composed of two driving rollers 82a (see Figures 2, 3 and 6) that are attached coaxially to a traveling drive shaft 84 that is rotated by the traveling motor 81 via a belt 83, and two driven rollers 82b (see Figures 3 and 6) that are arranged in opposing positions to the driving rollers 82a and rotate according to the rotation of the driving rollers 82a.

Figure 8 is a block diagram of a drilling system SYS equipped with a drilling device A having the above configuration. Note that in Figure 8, blocks connected by dashed lines indicate that they are in an indirect relationship.

As shown in Figure 8, the drilling system SYS is composed of the above-mentioned drilling device A, an input/output unit PC such as a PC (personal computer) that inputs (sets) the drilling conditions and outputs the drilling results, a control unit C that controls the operation of the entire drilling system SYS, a drilling state detection unit SS that detects the drilling state of the drilling device A, and a manual operation unit MU such as a pendant switch that is manually operated by an operator. The input/output unit PC also includes a drilling condition memory unit PCm1 in which the drilling conditions are stored, and a drilling result memory unit PCm2 in which the drilling results are stored.

Here, the drilling conditions stored in the drilling condition storage unit PCm1 are, for example, the drilling positions, drilling depths, drilling sequence, etc. of the multiple holes to be drilled in the structure S. In addition, if the thickness (concrete thickness) of the structure S, the position of the reinforcing bars arranged in the structure S, the width of the drilling area, etc. are input, the above-mentioned drilling conditions can be automatically determined by a predetermined software installed in the input/output unit PC. Therefore, inputting (setting) the drilling conditions not only means inputting specific drilling contents such as the drilling positions, drilling depths, and drilling sequence into the input/output unit PC, but also includes inputting items that can specify the specific drilling contents (such as the thickness of the structure S described above) into the input/output unit PC. In addition, the drilling positions are determined by coordinate data (drilling position map), a combination of the number of holes to be drilled, and a drilling pitch. However, the drilling conditions listed in this embodiment are only examples, and other conditions may be included.

The drilling results stored in the hole-drilling result memory unit PCm2 are the results of drilling holes opened in the structure S. As described below, the control unit C acquires the drilling results based on the detection information sent from the hole-drilling state detection unit SS and sends them to the input/output unit PC, and the input/output unit PC outputs the drilling results sent from the control unit C.

As mentioned above, the input/output unit PC is equipped with a drilling condition memory unit PCm1 in which the drilling conditions are stored, and a drilling result memory unit PCm2 in which the drilling results are stored, allowing the worker to check the drilling conditions and the drilling results when necessary.

In the present embodiment, the drilling system SYS is an input/output unit PC that combines an input unit for inputting (setting) the drilling conditions and an output unit for outputting the drilling results, but the input unit and the output unit may be separate from each other. The drilling conditions are input using various input media such as a keyboard, mouse, or touch panel. The drilling results are output to various output media such as an LCD display or printer.

The control unit C reads the drilling conditions that are input (set) in the input/output unit PC and stored in the drilling condition memory unit PCm1, and controls the driving of the drilling device A to sequentially drill holes in the structure S. It also obtains the drilling results based on the detection information from the drilling state detection unit SS, and controls the transmission of these to the input/output unit PC.

As shown in Figure 8, the lifting motor 61 of the drilling device A is rotated and controlled by an inverter IVa, the traverse motor 43 by an inverter IVb, and the travel motor 81 by an inverter IVc. In addition, a solenoid valve SVa that opens and closes the path that supplies compressed air from the compressor CP to the rock drill 33, the air motor 53, and the slide jack 72 is disposed on the path. Furthermore, a solenoid valve SVb that opens and closes the path between the suction pad 71 and the vacuum pump 73 that draws it to negative pressure is disposed between the two.

As shown in the figure, the operation of the inverters IVa, IVb and the solenoid valves SVa, SVb is controlled by the control unit C. The operation of the inverters IVa, IVb, IVc and the solenoid valves SVa, SVb is controlled by the manual operation unit MU. Therefore, when an operator operates the manual operation unit MU and drives the travel motor 81 via the inverter IVc to travel the drilling device A and place it at a specified drilling position, the control unit C automatically performs drilling. Furthermore, by operating the manual operation unit MU, the operator can drill holes at desired locations, separate from the drilling by the control unit C.

A cover advance/retract motor 87 is provided for advancing and retracting the dust cover 85 described above, and the rotation of the cover advance/retract motor 87 is controlled by the manual operation unit MU via the inverter IVd. As shown in the figure, the dust collector 86 is also controlled by the manual operation unit MU.

Now, the drilling state detection unit SS, which detects the drilling state of the drilling device A, is composed of a drilling position detection unit SSa which detects the drilling position of the drifter 30 moved by the drifter movement unit 34, a distance detection unit SSb and a drilling depth detection unit SSc which detect the distance from the structure S based on the stroke (advance length) of the drifter 30 which advances by the air motor 53 and drills the structure S with the rock drilling machine 33, a stroke detection unit SSd of the slide jack which moves the suction pad 71 forward and backward, and an ON/OFF detection unit SSe of the suction pad which is adsorbed to the structure S. The drilling position detection unit SSa is also composed of a lifting position detection unit SSaa which detects the lifting position of the drifter 30 from the rotation amount of the lifting motor 61, and a traverse position detection unit SSab which detects the traverse position of the drifter 30 from the rotation amount of the traverse motor 43. In this embodiment, the distance detection unit SSb and the drilling depth detection unit SSc are stroke meters provided on the drifter 30.

As described above, the drilling state of the drilling device A detected by the drilling state detection unit SS is sent to the control unit C. The control unit C then obtains (calculates) the results of drilling the structure S by the drilling device A from the various detection information sent from the drilling state detection unit SS, sends this to the input/output unit PC, and stores it in the drilling result memory unit PCm2.

Here, in the present embodiment, when the control unit C determines that the driller 30 cannot drill a hole of the specified drilling depth during drilling of the structure S, it controls the drilling to stop and drill the next hole in the drilling sequence.

As shown in Figure 9, reinforcing bars B, pipes, and other buried objects (hereafter referred to as "reinforcing bars, etc.") are arranged inside the concrete structure S, so if the drill bit 30 (more specifically, the bit 31 at the tip of the drill bit 30) interferes with the reinforcing bars, etc. while drilling a hole, it is not possible to drill any further. Note that Figure 9 shows reinforcing bars B arranged horizontally, which is why the cross section is circular.

Therefore, when the control unit C detects from the detection information sent from the drilling condition detection unit SS that the stroke (advance length) of the drifter 30 does not reach a predetermined dimension, it determines that the drifter 30 has interfered with rebar or the like and is therefore unable to drill hole H to a depth that meets the drilling conditions, and stops drilling, pulls the drifter 30 out of the structure S and moves it vertically or horizontally to drill the next hole H in the drilling sequence. The results of the multiple holes drilled in this way (the results of holes that were drilled to a depth that met the drilling conditions and holes that were not drilled to a depth that met the drilling conditions) are stored in the drilling result storage unit PCm2.

After the drilling is completed, the worker operates the input/output unit PC, and if there is a hole that could not be drilled to a depth that meets the drilling conditions in the drilling results stored in the drilling result memory unit PCm2 (i.e., the most recent drilling results), the drilling conditions are updated to limit the drilling to that hole and drill the hole at a shifted position, and the updated conditions are stored in the drilling condition memory unit PCm1.

Therefore, the next time, the updated drilling conditions stored in the drilling conditions storage unit PCm1 will be read, and drilling will only be performed on those holes that could not be drilled to a depth that met the drilling conditions in the previous drilling.

In this embodiment, whether or not a hole of the specified drilling depth can be drilled is determined based on the stroke of the drifter 30, but other criteria may be used. For example, a detection unit may be provided that detects the pressing pressure (feed pressure) of the bit 31 attached to the drifter 30, and whether or not a hole of the specified drilling depth can be drilled may be determined based on the pressing pressure detected by the detection unit. In other words, when the detected pressing pressure exceeds a predetermined pressure, it is determined that the drifter 30 has interfered with reinforcing bars or the like and therefore cannot drill a hole of the specified drilling depth.

Next, the process of automatically drilling holes H (here, holes H for inserting shear reinforcement bars R) in a concrete structure S using the hole drilling system SYS having the above configuration will be explained using the flowchart in Figure 10.

First, the worker operates the manual operation unit MU to run the drilling device A on the traveling rail 80 and place the drilling device A at the work position of the structure S (step St01). After the drilling device A has been placed at the work position of the structure S, the suction pad 71 is extended forward by the slide jack 72 and pressed against the structure S for suction, restraining the drilling device A in place.

Next, the control unit C reads the drilling conditions stored in the drilling condition storage unit PCm1 (i.e., drilling conditions such as the drilling positions and drilling depths of the multiple holes to be drilled in the structure S) (step St02). Note that the drilling conditions in step St02 may be read before the installation of the drilling device A in step St01, or after the distance measurement in step St04 described below.

Next, the drifter 30 is moved to the origin position (step St03). That is, the worker operates the manual operation unit MU, slides the lifting frame 20 to the upper or lower end with the lifting motor 61, and slides the lateral body 42 to either the left or right end with the lateral movement motor 43, thereby moving the drifter 30 to the origin position. Note that in this embodiment, the drifter 30 is moved to the origin position, which is the upper, lower, and left and right movement end, but it may be moved to any position. This is because the movement here is for measuring the distance (the distance between the drifter 30 and the structure S) in the next step St04, and therefore does not need to be the origin position.

Next, the distance between the drifter 30 and the structure S to be drilled is measured (step St04). That is, the worker operates the manual operation unit MU to advance the drifter 30 while stopping the rotation of the bit 31, and if there is no advance for a certain period of time (i.e., when the advance of the drifter 30 stops), it is determined that the drifter 30 (more specifically, the tip of the bit 31 attached to the drifter 30) has come into contact. Then, the extension amount of the drifter 30 at the advanced position is read by the stroke meter, which is the distance detection unit SSb, and is regarded as the distance between the drifter 30 and the structure S. Note that in this embodiment, the distance is measured by the stroke meter, but the measurement method is not limited to this, and it may be measured using a dedicated distance measuring device such as a laser range finder, or may be measured manually by an operator.

The next step St05 is then executed automatically by the control unit C which has read the drilling conditions.

That is, once the distance between the drifter 30 and the structure S has been measured, the drifter 30 is moved to the hole-drilling start position (step St05). That is, the lifting motor 61 moves the lifting frame 20 up and down, and the traverse motor 43 moves the traverse body 42 traversely, thereby moving the drifter 30 to the hole-drilling start position specified in the hole-drilling conditions.

Next, the driving of the drifter 30 is started (step St06). At this time, a driving force of relatively low-speed rotation and low-pressure impact is applied to the drifter 30 (more specifically, the rod 32 with the bit 31 attached to its tip).

Next, the dust cover 85 is advanced and suction by the dust collector 86 is started (step St07). That is, the cover advance/retract motor 87 advances the dust cover 85 to abut against the structure S, and the dust collector 86 starts suction to prepare for the collection of dust generated during drilling. The dust collector 86 starts and stops suction by the operator, and starts suction when the first hole is drilled and stops suction after the final hole is drilled. Therefore, in step St07 after the drifter 30 described later is moved to the next hole drilling position (step St19), the dust collector 86 is already performing suction, so only the advancement of the dust cover 85 is executed in this step St07.

Next, the drifter 30 is advanced to start drilling (step St08). That is, the air motor 53 slides the slider 52 to advance the drifter 30, and the bit 31 at the tip of the rod 32 is pressed against the drilling position in the structure S to start drilling.

Once drilling has started, the hole depth is successively detected by the hole-drilling depth detection unit SSc, and it is determined whether the detected hole-drilling depth has reached a predetermined value (e.g., 5 mm) (step St09). This step is for determining whether the operation of the drifter 30 has stabilized as the bit 31 has penetrated the structure S to a predetermined depth.

If the drilling depth reaches the predetermined value in step St09, it is assumed that the operation of the drifter 30 has stabilized, and the drifter 30 is then driven with high-speed rotation and high-pressure impact to perform drilling (step St10).

Then, it is determined whether the drilling speed is equal to or greater than the set value based on the change in hole depth detected by the drilling depth detection unit SSc (step St11).

If it is determined in step St11 that the drilling speed is equal to or greater than the set value, drilling is proceeding smoothly, and drilling continues until it is determined that the drilling depth has reached the set value (step St12). If it is determined in step St12 that the drilling depth has reached the set value, the drilling results (the drilling execution values such as the actual drilling position and drilling depth, and the determination result that "drilling was successful") are stored in the drilling result storage unit PCm2 (step St13). Note that when it is determined in step St12 and in step St16 described below that the drilling depth has reached the set value, the forward movement of the drifter 30 is stopped.

On the other hand, if it is determined in step St11 that the drilling speed is not equal to or greater than the set value, it is possible that the drilling speed has not reached the set value for some reason (e.g., the hardness of the structure S, etc.), but that the drilling is in the middle of drilling toward the set drilling depth. Therefore, the drilling time is measured (step St14), and it is determined whether the drilling depth has changed within the specified time (step St15).

If it is determined in step St15 that the drilling depth has not changed within the specified time, this means that drilling has stalled because the bit 31 attached to the tip of the drifter 30 has hit a rebar or the like in the structure S, and drilling is stopped, and the drilling results (the drilling execution values such as the actual drilling position and drilling depth, and the judgment result that "drilling failed") are stored in the drilling result memory unit PCm2 (step St13).

In addition, if it is determined in step St15 that the drilling depth has changed within a predetermined time, it is determined whether the drilling depth has reached a set value (step St16), and if it is determined that the drilling depth has reached the set value, the drilling results (the drilling execution values such as the actual drilling position and drilling depth, and the judgment result of "drilling success") are stored in the drilling result storage unit PCm2 (step St13). On the other hand, if it is determined in step St16 that the drilling depth has not reached the set value, drilling is stopped, and the drilling results (the drilling execution values such as the actual drilling position and drilling depth, and the judgment result of "drilling failure") are stored in the drilling result storage unit PCm2 (step St13).

Now, once the drilling results have been stored in the drilling result memory unit PCm2 in step St13, the drifter 30 retracts (retracts to the extent that the bit 31 at the tip of the drifter 30 is pulled out of the structure S) and stops driving, and at the same time, the dust cover 85 also retracts and moves away from the structure S (step St17).

Next, it is determined whether the current hole is the final hole (step St18), and if it is not the final hole, the lift motor 61 and/or the traverse motor 43 are driven to move the drifter 30 to the next hole drilling position specified in the hole drilling conditions (step St19), and the process proceeds to step St06 described above. The following steps are then executed in sequence.

On the other hand, if it is determined in step St18 that this is the final hole drilling, the operator stops suction of the dust collector 86 (step St20).

Then, the drilling conditions stored in the drilling condition storage unit PCm1 are compared with the drilling results stored in the drilling result storage unit PCm2 in the aforementioned step St13 and output (step St21). The output format is, for example, a list of drilling conditions such as drilling position and drilling depth and drilling results for each hole number, output to a paper medium or display.

Next, it is determined from the output drilling conditions and the drilling results whether there are any holes that do not meet the drilling conditions (holes that are determined to be "drilling failures") (step St22). In this embodiment, this determination is made by the operator from the output drilling conditions and the drilling results, but the control unit C may also make the determination from the drilling conditions stored in the drilling conditions storage unit PCm1 and the drilling results stored in the drilling results storage unit PCm2.

Now, in step St22, if it is determined that there are no holes that do not meet the drilling conditions, drilling ends.

On the other hand, if it is determined in step St22 that there is a hole that does not meet the drilling conditions, the drilling conditions are updated based on the drilling results (step St23). It is assumed that the reason why a hole that meets the drilling conditions could not be drilled is because the bit 31 attached to the tip of the drifter 30 hit reinforcing bars or the like in the structure S. Therefore, when updating the drilling conditions, the drilling position is shifted a predetermined amount (up and down, horizontally, or up and down and horizontally) taking into account the position of the reinforcing bars or the like in the design drawings, etc. In this embodiment, the drilling conditions are also updated by the worker, but may also be updated by the control unit C. Furthermore, the update of the drilling conditions may include not only shifting the drilling position but also changing the drilling depth, etc.

If the drilling conditions are updated in step St23, the updated drilling conditions are stored in the drilling condition storage unit PCm1 (step St24). The control unit C then reads the updated drilling conditions from the drilling condition storage unit PCm1 (step St25). Then, the process proceeds to step St05 described above, and the subsequent steps are executed in sequence.

In this manner, in this embodiment, the drilling conditions including the drilling positions and drilling depths of multiple holes when drilling a concrete structure S are read, and the drilling device A drills holes sequentially based on the drilling conditions. For any hole in which the drifter 30 is unable to drill a hole of a depth that meets the drilling conditions, drilling is stopped and the next hole in the drilling sequence is drilled. If there is a hole in which it is unable to drill a hole of a depth that meets the drilling conditions, updated drilling conditions are applied to that hole only, so that the hole is drilled at a shifted drilling position.

Therefore, for holes that the drifter 30 is unable to drill to a depth that meets the drilling conditions, the drilling position is shifted and the holes are drilled, making it possible to automatically drill the desired number of holes to a depth that meets the drilling conditions in the structure S.

The invention made by the inventor has been specifically described above based on the embodiments, but the embodiments disclosed in this specification are illustrative in all respects and are not limited to the disclosed technology. In other words, the technical scope of the present invention should not be interpreted restrictively based on the explanation in the above embodiments, but should be interpreted strictly according to the description of the claims, and includes technologies equivalent to the technologies described in the claims and all modifications that do not deviate from the gist of the claims.

For example, in this embodiment, a drifter 30 is used as the drilling machine, but this is not limited to this. In other words, various drilling machines capable of drilling holes in a concrete structure S can be applied, such as a core drill that drills holes by rotating a rod with a cylindrical saw bit attached to the tip.

The structure of the hole-drilling device A is not limited to this embodiment. In other words, various structures of hole-drilling devices A can be used as long as they are equipped with a drilling machine such as a drifter 30 that can move in at least one of the vertical and horizontal directions and are capable of drilling multiple holes in the structure S.

In the above explanation, the drilling system of the present invention is described as being used to drill holes for inserting shear reinforcement bars into an existing concrete structure, but the present invention is not limited to this and can be widely applied to drilling holes in concrete structures.

10 Main body frame (main body)
20 Lifting frame (lifting member)
30 Drifter (Drilling machine)
31 Bit 32 Rod 33 Rock drill 40 Traverse member 41 Traverse guide rail 42 Traverse body 43 Traverse motor 50 Advance/retract member 51 Advance/retract guide rail 52 Slider 53 Air motor 61 Lifting motor 70 Reaction force transmission section (reaction force transmission means)
71 Suction pad 72 Slide jack 80 Travel rail 81 Travel motor 82 Roller 85 Dust cover 86 Dust collector 87 Cover advance/retract motor A Drilling device B Reinforcement bar C Control unit CP Compressor H Hole IVa, IVb, IVc, IVd Inverter MU Manual operation unit PC Input/output unit PCm1 Drilling condition memory unit PCm2 Drilling result memory unit R Shear reinforcement bar S Structure SS Drilling state detection unit SSa Drilling position detection unit SSaa Lifting position detection unit SSab Traverse position detection unit SSb Distance from structure detection unit SSc Drilling depth detection unit SSd Slide jack stroke detection unit SSe Suction pad ON/OFF detection unit SVa, SVb Solenoid valve SYS Drilling system

Claims (14)

a drilling condition storage unit that stores drilling conditions including a drilling order, a drilling position, and a drilling depth of a plurality of holes to be drilled in a concrete structure;
a drilling device including a drilling machine movable in vertical and horizontal directions, for drilling a plurality of holes in the structure;
a drilling state detection unit including a drilling position detection unit that detects a drilling position by the drilling machine and a drilling depth detection unit that detects the drilling depth by the drilling machine;
a control unit that reads the drilling conditions from the drilling condition storage unit, controls the drilling device to drill holes sequentially based on the drilling conditions, and controls the drilling to stop and drill the next hole in the drilling sequence for a hole that is detected by the drilling state detection unit as being unable to drill a hole of a depth that meets the drilling conditions;
A hole-drilling result storage unit for storing the hole-drilling results by the hole-drilling device,
The drilling condition storage unit stores the updated drilling conditions so that, when there is a hole that cannot be drilled to a depth conforming to the drilling conditions in the drilling result stored in the drilling result storage unit, the drilling conditions are limited to the hole and the hole is drilled by shifting the drilling position.
A drilling system comprising: The drilling position in the drilling conditions is defined by coordinate data or a combination of the number of drilling holes and the drilling pitch.
2. The drilling system according to claim 1 . The drilling depth under the drilling conditions is composed of a drilling depth at a low impact pressure by the drilling machine and a drilling depth at a high impact pressure thereafter;
3. The drilling system according to claim 1 or 2. The hole-drilling state detection unit determines that the drilling machine cannot drill a hole conforming to the drilling conditions when the hole-drilling stagnates or when the hole-drilling depth does not reach a set value within a predetermined time.
A drilling system according to any one of claims 1 to 3. The hole-drilling condition storage unit stores the updated hole-drilling conditions so that the hole-drilling position is shifted in the vertical direction, the horizontal direction, or both the vertical direction and the horizontal direction.
A drilling system according to any one of claims 1 to 4. Further, an output unit is provided for comparing and outputting the drilling conditions stored in the drilling condition storage unit and the drilling results stored in the drilling result storage unit for each drilled hole .
A drilling system according to any one of claims 1 to 5. The output unit outputs a judgment result of a hole that meets the drilling conditions and a hole that does not meet the drilling conditions.
7. The drilling system according to claim 6. A method for automatically drilling a plurality of holes in a concrete structure using a drilling device in which a drilling machine is movable in the vertical and horizontal directions, comprising:
a drilling condition reading process for reading drilling conditions that set drilling conditions including a drilling order, a drilling position, and a drilling depth of a plurality of holes to be drilled in the structure;
a drilling step of sequentially drilling holes by the drilling device based on the drilling conditions read in the drilling condition reading step, and stopping drilling of holes that the drilling machine cannot drill to a depth that conforms to the drilling conditions and drilling the next hole in the drilling sequence;
A hole-drilling result storage step for storing the hole-drilling results by the hole-drilling device,
In the drilling condition reading step, if there is a hole that cannot be drilled to a depth that conforms to the drilling conditions in the drilling result stored in the drilling result storage step, the updated drilling conditions are read so that the hole is drilled by shifting the drilling position, limited to the hole in question.
A hole drilling method comprising the steps of: The drilling position in the drilling conditions is defined by coordinate data or a combination of the number of drilling holes and the drilling pitch.
9. The method of claim 8. The drilling depth under the drilling conditions is composed of a drilling depth at a low impact pressure by the drilling machine and a drilling depth at a high impact pressure thereafter;
10. The method of claim 8 or 9. In the drilling step, when the drilling stagnates or when the drilling depth does not reach a set value within a predetermined time, the drilling is stopped.
The method for drilling a hole according to any one of claims 8 to 10. In the drilling condition reading step, the updated drilling conditions are read so that the drilling position is shifted vertically, horizontally, or vertically and horizontally.
A drilling system according to any one of claims 8 to 11. The method further includes an output step of comparing the drilling conditions read in the drilling condition reading step with the drilling results stored in the drilling result storage step for each drilled hole , and outputting the results.
A method for drilling a hole according to any one of claims 8 to 12. In the output step, a judgment result of a hole conforming to the drilling conditions and a hole not conforming to the drilling conditions are output together.
14. The method of claim 13.

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