Drilling System

Abstract

To efficiently drill holes while ensuring high depth accuracy throughout the entire drilling range.SOLUTION: In a drilling system SYS, which drills multiple holes H in a structure S using a drilling device A, it is possible to choose between a one-point measurement method, in which the distance between the drilling device A and the structure S opposed to each other is measured at only one point within the wall surface SF of the structure S, and a full-point measurement method, in which the distance is measured at all points in the drilling area depending on the condition of the wall surface SF of the structure S in the drilling section. This makes it possible to efficiently drill holes while ensuring high depth accuracy throughout the entire drilling range.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a drilling system, for example, a drilling system for drilling holes in an existing concrete structure. [Background technology]

[0002] For concrete structures that are in contact with the ground above ground, underground, semi-underground, etc., or concrete structures constructed above ground near railways, roads, etc., a construction method is used in which, for the purpose of earthquake reinforcement, a hole is drilled from one side of the structure using a drilling device, and the hole is filled with anchoring material.After that, post-installed shear reinforcement bars (hereinafter referred to as shear reinforcement bars) are inserted to integrate them with the structure, thereby improving the shear strength of the structure.

[0003] Furthermore, in the case of existing structures such as roads, bridges, dams, and levees that have concrete frames, a drilling device is used to drill holes at specified intervals on the sides and top and bottom surfaces of the frame in order to maintain and reinforce the frame, and post-installed anchors are embedded in the holes, and reinforcement is then placed to connect with the post-installed anchors, and further concrete is poured in a reinforcement method.

[0004] A shear reinforcement method for a structure is known, for example, from Patent Document 1 (JP 2016-037787 A). Also, a concrete addition method for a structure is known, for example, from Patent Document 2 (JP 2018-131848 A). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-037787 [Patent Document 2] Japanese Patent Application Publication No. 2018-131848 Summary of the Invention [Problem to be solved by the invention]

[0006] In the above-mentioned drilling device, prior to the drilling operation, the distance between the drilling device and the structure is measured in order to set the depth of the multiple holes to be drilled in the structure to a predetermined value. This distance is determined by measuring the distance the drilling rod of the drifter installed at the standby position of the drilling device approaches the wall surface of the structure while facing perpendicularly to the wall surface, and then automatically returning to its original standby position when the bit at the tip of the drilling rod hits the wall surface of the structure, using a laser measuring device installed behind the drilling rod to measure the distance the drilling rod travels from the standby position to the time it hits the wall surface.

[0007] Considering the efficiency of drilling operations, it is possible to measure the distance between the drilling equipment and the wall at a single point and drill multiple holes in the structure based on that value. In this case, the above series of measurements can be performed only once, significantly improving the efficiency of drilling operations. However, in actual structures, the wall may have unevenness, may be inclined or curved in the horizontal or vertical directions, or may need to have the distance between the drilling equipment and the wall changed during the drilling range depending on the condition of the slab, etc. Therefore, if the distance between the drilling equipment and the wall is determined at only one point, there is a problem that it is not possible to drill holes of the desired depth in some locations.

[0008] One possible solution is to measure the distance between the drilling tool and the wall surface for each hole and drill multiple holes in the structure based on the measured distance. In this case, the distance between the drilling tool and the wall surface is measured for each hole, improving the depth accuracy of the multiple holes. However, this method requires a series of measurements for each hole: moving the drilling rod toward the wall surface, measuring the distance traveled, and returning the rod to its original position. This significantly reduces the efficiency of the drilling process.

[0009] Therefore, in drilling work, an important issue is how to drill holes efficiently while ensuring high depth accuracy for multiple holes throughout the entire drilling area.

[0010] The present invention has been made in light of the above-mentioned technical background, and aims to provide a technology that can efficiently drill holes while ensuring high depth accuracy throughout the entire drilling range. [Means for solving the problem]

[0011] In order to solve the above problem, the drilling system of the present invention as set forth in claim 1 comprises a drilling device for drilling holes in a structure to be drilled, a control means for controlling the operation of the drilling device, and an input means for inputting to the control means how the drilling device should operate, wherein the drilling device comprises a drilling device moving means for moving the drilling device itself along the wall surface of the structure, a drilling means for drilling holes in the structure, and an input means for inputting to the control means how the drilling device should operate. wall Moved along and drilling holes by the drilling means in a drilling section, which is an area of ​​the structure facing the installation position of the drilling device. The apparatus includes an in-plane movement means, an advancing / retreating means for advancing the drilling means toward the wall surface and retracting the drilling means from the wall surface, and an opposing distance measuring means for measuring the opposing distance between the drilling device and the structure, and the input means is In the drilling section The opposing distance is wall The first measurement method measures at one point, In the drilling section a second measurement method for measuring the distance between the opposing points at all points of the drilling location, and a function for inputting the selected measurement method information into the control means; When the measurement method information sent from the input means is the first measurement method, the control means performs control so that the drilling of each hole is performed based on the opposing distance at one point in the drilling section measured by the opposing distance measuring means, and when the measurement method information sent from the input means is the second measurement method, the control means measures the opposing distance at the position of each hole using the opposing distance measuring means before drilling each hole in the drilling section, and performs control so that the drilling of each hole is performed based on the measurement result. It is characterized by:

[0012] The drilling system of the present invention described in claim 2 is characterized in that, in the invention described in claim 1, the input means is equipped with a wireless communication function and is electrically connected to the control means via the wireless communication function.

[0013] The drilling system of the present invention described in claim 3 is characterized in that, in the invention described in claim 1 or 2 above, the opposing distance measuring means measures the distance traveled by the drilling means from a standby position toward the wall surface until the drilling tip of the drilling means contacts the wall surface as the opposing distance. [Effects of the Invention]

[0014] According to the present invention, it is possible to efficiently drill holes while ensuring high depth accuracy throughout the entire drilling range. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is an explanatory diagram showing a portion of a concrete structure that has been earthquake-reinforced by inserting shear reinforcement bars into holes drilled by a hole-drilling device according to one embodiment of the present invention. [Figure 2] 1 is a side view of a drilling device according to an embodiment of the present invention. [Figure 3] FIG. 2 is a front view of the drilling device of FIG. 1. [Figure 4] FIG. 2 is a plan view of the drilling device of FIG. 1. [Figure 5] FIG. 4 is a cross-sectional view taken along line VV in FIG. [Figure 6] FIG. 6 is a cross-sectional view taken along line VI-VI in FIG. [Figure 7] FIG. 2 is an explanatory diagram showing the arrangement of chains provided in the drilling device of FIG. 1. [Figure 8] FIG. 8 is a block diagram of a hole-drilling system equipped with the hole-drilling device described with reference to FIGS. 2 to 7. [Figure 9] The upper part is a side view of the drifter in the standby position, and the lower part is a side view of the drifter when it has been advanced so that the bit at the tip of the rod is in contact with the structure. [Figure 10] FIG. 10 is a plan view of an example of a main portion of a drilling area in the first stage. [Figure 11] FIG. 11 is a plan view of a main part of an example of a hole-making area in a process subsequent to FIG. 10. [Figure 12] FIG. 12 is a plan view of a main part of an example of a hole-making area in a process following FIG. [Figure 13] FIG. 13 is a plan view of a main part of an example of a hole-making region in a process following FIG. 12. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, 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 description thereof will be omitted.

[0017] FIG. 1 is an explanatory diagram showing a part of a concrete structure that has been earthquake-reinforced by inserting shear reinforcement bars into holes drilled by a hole-drilling device according to one embodiment of the present invention.

[0018] The drilling device of this embodiment is used to drill a hole H from one side (wall) as part of a reinforcement work process for an existing concrete structure S that is in contact with ground G as shown in FIG. 1, or an existing concrete structure (not shown) constructed on the ground near a railway, road, or other structure. After filling the drilled hole H with anchoring material M, a shear reinforcing bar R is inserted and integrated with the structure S, thereby improving the shear strength of the structure S. Note that the shear reinforcing bar R may be, for example, a commonly used reinforcing bar R1 that has been threaded and diagonally cut on one side and has a hexagonal nut (anchor) R2 attached to its tip.

[0019] Figure 2 is a side view of a drilling device according to one embodiment of the present invention, Figure 3 is a front view of the drilling device of Figure 1, Figure 4 is a plan view of the drilling device of Figure 1, Figure 5 is a cross-sectional view along line VV of Figure 3, Figure 6 is a cross-sectional view along line VI-VI of Figure 2, and Figure 7 is an explanatory diagram showing the arrangement of chains provided in the drilling device of Figure 1.

[0020] As shown in Figures 2 to 6, the drilling device A of this embodiment comprises a main frame 10 constructed in the shape of a rectangular parallelepiped from rod-shaped steel material such as a column (square steel pipe) or H-shaped steel, a lifting frame 20 similarly constructed in the shape of a rectangle from steel material such as a column or H-shaped steel and arranged so that it can be raised and lowered within the main frame 10, and a drifter (drilling means) 30 attached to the lifting frame 20 and used to drill a hole in a concrete structure S in front of it.

[0021] As shown in Fig. 3, the main frame 10 has openings at the front and rear, and as shown in Fig. 2 and 5, beams 11 are attached to the sides at multiple locations (here, for example, two locations) on the top and bottom, and braces 12 are also provided to ensure the required strength. As shown in Fig. 4 and 6, the lifting frame 20 is made up of four frame rods 21 that form a rectangle, and as shown in Fig. 2, 5 and 6, 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.

[0022] As shown in Figure 5, the drifter 30 is equipped with a rod 32 having a bit 31 attached to the tip thereof, and a rock drill 33 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 can move laterally (moving along the wall surface of the target to be drilled) 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 (moving in a direction intersecting (perpendicular to) the wall surface of the target to be drilled) to drill a hole in the structure S through the open front side.

[0023] The drifter 30 of this embodiment is capable of drilling a relatively deep hole H, for example, about 1 m deep. However, the depth of the hole H can be freely set and is not limited to 1 m as in this embodiment.

[0024] Here, specific examples of the lateral movement mechanism and the forward / backward movement mechanism of the drifter 30 will be described.

[0025] 4 and 6, the lifting frame 20 is provided with a lateral movement member (in-plane movement means) 40 that moves laterally on the lifting frame 20. The lateral movement member 40 is also provided with an advancing / retreating member (advancing / retreating movement means) 50 that can reciprocate in a direction perpendicular to the movement direction of the lateral movement member 40. The advancing / retreating member 50 moves the drifter 30 forward and backward, and the lateral movement member 40 moves the advancing / retreating member 50 laterally, thereby enabling the drifter 30 to move laterally and forward and backward.

[0026] 6, the lateral movement member 40 includes lateral guide rails 41 extending laterally along the frame rods 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 on the lateral movement guide rails 41, and a ball screw 44 that is threadedly engaged with the lateral movement body 42 and is rotationally driven by a lateral movement motor 43. The drifter 30 is mounted on the lateral movement body 42 via an advancing / retracting member 50. Therefore, the rotation of the ball screw 44 moves the lateral movement body 42 along the lateral movement guide rails 41, and the drifter 30 moves laterally on the lifting frame 20 within the range of the front opening.

[0027] 4 and 6, the advancing / retreating member 50 includes an advancing / retreating guide rail 51 provided along the cross body 42, a slider 52 that slides on the advancing / retreating guide rail 51, and an endless belt 54 that is driven to rotate by an advancing / retreating motor 53 to slide the attached slider 52. The drifter 30 is mounted on the slider 52. Therefore, the rotation of the advancing / retreating motor 53 rotates the endless belt 54, and the slider 52 moves along the advancing / retreating guide rail 51, causing the drifter 30 to move back and forth on the lifting frame 20. In this embodiment, the endless belt 54 is, for example, a non-metallic rubber belt, but it may also be a metal belt.

[0028] Next, a specific example of the lifting mechanism of the lifting frame 20 will be described.

[0029] As shown in Figure 3, the lifting mechanism (in-plane movement means) includes 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 over which the chain 60 is stretched.

[0030] The chain 60 is composed of a first chain 60a and a second chain 60b, one ends of which are attached to the centers of two opposing sides of the lifting frame 20. That is, as shown in Figures 3, 4 and 6, one ends of the first chain 60a and the second chain 60b are attached to the upper centers of 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 centers of the frame rods 21 on the opposite side.

[0031] 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 moving laterally.

[0032] 3 and 7, sprockets 62a and 62b are disposed in the front-to-rear center of the upper left and right sections of main frame 10, and sprockets 62c and 62d are disposed in the front-to-rear center of the corresponding lower left and right sections. Sprocket 62e is disposed between lift motor 61 and sprocket 62d located near lift motor 61, and at a position slightly higher than sprocket 62d. Furthermore, drive sprocket 61a is attached to lift motor 61.

[0033] 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 drawing) are single-double sprockets, with two sprockets coaxially integrated, allowing two chains 60 (first chain 60a and second chain 60b) to be stretched over them. The sprockets 62a and 62c on the opposite side (the left side in the drawing) are single sprockets, allowing only the first chain 60a to be stretched over them.

[0034] 3, the first chain 60a is looped around sprockets 62a, 62b, 62e, drive sprocket 61a, sprocket 62d, and sprocket 62c in this order from an upper mounting position on the left side of the lifting frame 20 upward to a lower mounting position on the left side of the lifting frame 20. The second chain 60b is looped around sprockets 62b, 62e, drive sprocket 61a, and sprocket 62d in this order from an upper mounting position on the left side of the lifting frame 20 upward to a lower mounting position on the right side of the lifting frame 20.

[0035] 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 up 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.

[0036] As shown in FIGS. 2 to 4, reaction force transmission units 70 are installed at two locations, left and right, on the upper end of the main frame 10. These reaction force transmission units 70 transmit a thrust reaction force to the structure S, which is the target of drilling. The reaction force transmission units 70 include a suction pad 71 that adheres to the structure S by negative pressure suction force from a vacuum pump (not shown), and a slide jack 72 that moves the suction pad 71 forward and backward. During drilling, the slide jack 72 extends the suction pad 71 forward and presses it against the structure S, and the vacuum pump adheres the suction pad 71 to the structure S. This provides a thrust reaction force when drilling the structure S with the driller 30, enabling smooth drilling. However, the suction operation by the suction pad 71 is not essential and may be omitted.

[0037] It is desirable to install the reaction force transmission unit 70 at two locations, one on the left and one on the right side 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 side of the upper end, one location in the center of the upper end, or at a location other than the upper end.

[0038] Such a drilling device A can move along the traveling rail GR by a traveling motor (drilling device moving means) 81 provided at the bottom of its main frame 10. That is, as shown in Figures 2, 3 and 5, the drilling device A is mounted on the traveling rail GR via a plurality of rollers (drilling device moving means) 82 (for example, four in this embodiment) attached to the bottom of its main frame 10. The rollers 82 are rotating members that are driven by the traveling motor 81 to roll on the traveling rail GR, and are equipped with two driving rollers 82a (see Figures 2, 3 and 6) and two driven rollers 82b (see Figures 3 and 6). The two driving rollers 82a are attached coaxially to a traveling drive shaft (drilling device moving means) 84 that is rotationally driven by the traveling motor 81 via a belt (drilling device moving means) 83. On the other hand, the two driven rollers 82b are rotatably installed at positions facing the drive roller 82a in the extending direction of the traveling rail GR, and are adapted to rotate in accordance with the rotation of the drive roller 82a.

[0039] In such a drilling device A, the movement of the drifter 30 during drilling can be controlled, for example, by changing the height of the drifter 30 for each horizontal drilling position to drill multiple holes, or by changing the horizontal position of the drifter 30 for each vertical drilling position to drill multiple holes.

[0040] When drilling multiple holes by changing the height of the drifter 30 for each horizontal drilling position, the traverse motor 43 moves the traverse body 42 horizontally to set the drifter 30 to the first horizontal drilling position. Next, at the first horizontal drilling position, the lifting motor 61 moves the lifting frame 20 vertically to change the height of the drifter 30 and drill multiple holes. After drilling at the first horizontal drilling position is completed, the traverse motor 43 moves the traverse body 42 to a second horizontal drilling position adjacent to the first horizontal drilling position and sets the drifter 30 to the second horizontal drilling position. Then, at the second horizontal drilling position, multiple holes are drilled while changing the height of the drifter 30 in the same manner as above. By repeating this process, multiple holes are drilled in the wall surface of the structure S.

[0041] On the other hand, when drilling multiple holes by changing the lateral position of the drifter 30 for each vertical drilling position, the lifting motor 61 moves the lifting frame 20 vertically to set the drifter 30 to a first vertical drilling position. Next, at the first vertical drilling position, the lateral movement motor 43 moves the lateral movement body 42 horizontally to change the lateral position of the drifter 30, drilling multiple holes. After drilling at the first vertical drilling position is completed, the lifting motor 61 moves the lifting frame 20 to a second vertical drilling position directly above or below the first vertical drilling position, and the drifter 30 is set to the second vertical drilling position. Then, at the second vertical drilling position, multiple holes are drilled while changing the lateral position of the drifter 30 in the same manner as above. By repeating this process, multiple holes are drilled in the wall surface of the structure S.

[0042] In this way, according to the drilling device A of this embodiment, holes can be drilled by moving the drifter 30 vertically and horizontally within the wall surface of the concrete structure S to be drilled, thereby making it possible to drill multiple holes within the wall surface while reducing the burden on the worker.

[0043] Next, Figure 8 is a block diagram of a drilling system SYS equipped with the drilling device A having the above configuration. In Figure 8, blocks connected by dashed lines indicate that they are in an indirect relationship.

[0044] The drilling system SYS comprises the above-mentioned drilling device A, an input / output unit (input means) PC that inputs (sets) a drilling condition sheet (not shown) that sets various drilling conditions for the structure S and outputs the drilling results, a control unit (control means) C that controls the operation of the entire drilling system SYS, a drilling status detection unit SS that detects the drilling status of the drilling device A, and a manual operation unit MU such as a pendant switch that is manually operated by an operator.

[0045] The input / output unit PC is composed of, for example, a personal computer, and is equipped with a drilling condition sheet memory unit PCm1 in which drilling condition sheets are stored, a drilling result memory unit PCm2 in which drilling results are stored, and a measurement method memory unit PCm3 in which the measurement method for the opposing distance between the drilling device A and the structure S is stored.

[0046] The drilling condition sheet stored in the drilling condition storage unit PCm1 is a sheet that sets the drilling conditions for the wall surface of the structure S. The drilling conditions include, for example, the hole number, the elevation setting value (the setting value in the vertical direction from the origin), the slide setting value (the setting value in the horizontal direction from the origin), the low-speed depth setting value (the setting value for the hole depth drilled by the low-speed rotation from the start of drilling by the drifter 30), the drilling depth setting value (the setting value for the final hole depth drilled by the drifter 30), and no drilling (a check mark field to be entered when a hole of the required depth cannot be drilled). The drilling conditions are entered into the drilling condition sheet by the operator, taking into account, for example, the thickness (concrete thickness) of the structure S, the position of the rebar arranged in the structure S, and the size of the drilling area. However, the drilling conditions (numerical values) may be entered automatically using AI (artificial intelligence) or the like.

[0047] As will be described later, the control unit C reads the distance measurement method stored in the measurement method memory unit PCm3 to measure the distance between the drilling device A and the structure S, and then reads the drilling condition sheet stored in the drilling condition sheet memory unit PCm1 to drill holes. The drilling conditions may also be set, for example, as the drilling speed or a predetermined time for determining that drilling is in progress when the speed is less than the drilling speed. The drilling position may also be set by combining the spacing between adjacent vertical or horizontal rows, the drilling start position, and the drilling pitch.

[0048] Furthermore, the drilling results stored in the drilling result memory unit PCm2 are the results of drilling holes drilled in the structure S. As will be described later, the control unit C acquires the drilling results based on the detection information sent from the drilling state detection unit SS and stores them in the drilling result memory unit PCm2. The input / output unit PC outputs the drilling results together with the drilling conditions. In this embodiment, this output is referred to as a history file. This history file displays, for example, the start time of drilling, drilling time, hole number, sheet number (number of the drilling condition sheet Sh), lifting / lowering setting value, lifting / lowering completion value, slide setting value, slide completion position, measured distance to the wall (structure S), low-speed depth setting value, low-speed drilling value, drilling depth setting value, total drilling amount and judgment.

[0049] Furthermore, the input / output unit PC allows the operator to check the drilling condition sheets stored in the drilling condition sheet storage unit PCm1 and the drilling results stored in the drilling result storage unit PCm2. In the drilling system SYS of this embodiment, the input / output unit PC is an integrated unit that combines an input unit for inputting (setting) the drilling condition sheets and an output unit for outputting the history file of the drilling results, but the input unit and output unit may be separate entities.

[0050] Numerical values ​​and other information are entered into the drilling conditions sheet using various input media such as a keyboard, mouse, tablet terminal, etc. The tablet terminal is equipped with an LCD display capable of input and output, as well as a wireless communication function, which electrically connects it to the control unit C. In addition, the history file is output to various output media such as an LCD display or printed paper media.

[0051] The control unit C reads the measurement method stored in the measurement method memory unit PCm3 of the input / output unit PC and measures the facing distance between the drilling device A and the structure S. It also reads the drilling condition sheet stored in the drilling condition sheet memory unit PCm1 of the input / output unit PC and drives the drilling device A to sequentially drill multiple holes in the structure S. It also obtains the drilling results based on the detection information from the drilling state detection unit SS and sends them to the input / output unit PC.

[0052] The lifting motor 61 of the drilling device A is rotated by an inverter IVa, the traverse motor 43 by an inverter IVb, and the travel motor 81 by an inverter IVc. A solenoid valve SVa that opens and closes the path that supplies compressed air from the compressor CP to the rock drill 33, air motor 53, and 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 them.

[0053] 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 predetermined drilling position, the control unit C automatically performs drilling. Furthermore, by operating the manual operation unit MU, the operator can drill a hole at a desired location, separate from the hole drilling performed by the control unit C.

[0054] A cover advance / retract motor 87 is provided for advancing and retracting the dust cover 85 described above, and the cover advance / retract motor 87 is rotated by a manual operation unit MU via an inverter IVd. The dust collector 86 is controlled by the control unit C. However, the dust collector 86 may also be operated by an operator operating the manual operation unit MU.

[0055] On the other hand, the drilling state detection unit SS includes a drilling position detection unit SSa, a distance detection unit (opposing distance measurement means) SSb, a drilling depth detection unit SSc, a stroke detection unit SSd of the suction pad 71, and an ON / OFF detection unit SSe of the suction pad 71.

[0056] The drilling position detection unit SSa is a detection unit that detects the drilling position (position within the wall surface of the structure S) of the drifter 30 moved by the drifter movement unit 34, and is equipped with a lifting position detection unit SSaa and a traversing position detection unit SSbb. The lifting position detection unit SSaa is a detection unit that detects the lifting position of the drifter 30 based on the amount of rotation of the lifting motor 61, and the traversing position detection unit SSbb is a detection unit that detects the traversing position of the drifter 30 based on the amount of rotation of the traversing motor 43.

[0057] The distance detection unit SSb is a detection unit that detects the distance between the drilling device A and the wall surface of the structure S, and the drilling depth detection unit SSc is a detection unit that detects the drilling depth. The distance detection unit SSb and the drilling depth detection unit SSc are configured using a common displacement sensor (displacement meter) provided on the drifter 30. In other words, the distance between the drilling device A and the wall surface of the structure S and the drilling depth are measured by the travel distance (advance length) of the drifter 30 (rock drill 33 and rod 32). The drifter 30 (rock drill 33 and rod 32) is moved forward and backward by an air motor 53.

[0058] The stroke detection section SSd of the suction pad 71 is a detection section that detects the stroke length of the slide jack that moves the suction pad 71 back and forth, and the ON / OFF detection section SSe of the suction pad 71 is a detection section that detects the ON / OFF of the suction pad 71.

[0059] The detection information detected by the drilling state detection unit SS is transmitted to the control unit C. The control unit C then acquires (calculates) the results of drilling the structure S by the drilling device A from the various pieces of detection information transmitted from the drilling state detection unit SS, transmits these to the input / output unit PC, and stores them in the drilling result memory unit PCm2.

[0060] An example of measuring the distance between the drilling device A and the structure S will now be described with reference to Figures 8 and 9. The top part of Figure 9 is a side view of the drifter in the standby position, and the bottom part of Figure 9 is a side view of the drifter when it has been advanced so that the bit at the end of the rod is in contact with the structure.

[0061] As shown in Figure 9, in this embodiment, the distance detection unit SSb and drilling depth detection unit SSc are installed at the rear of the rock drill 33. The distance detection unit SSb and drilling depth detection unit SSc are configured by a non-contact displacement meter such as a laser displacement meter. That is, when laser light La emitted from the distance detection unit SSb (drilling depth detection unit SSc) is irradiated onto the rear end face of the rock drill 33 of the drifter 30, the position of the drifter 30 is measured by receiving reflected light Lb reflected from the rear end face of the rock drill 33 of the drifter 30.

[0062] However, the distance detection unit SSb and the drilling depth detection unit SSc are not limited to laser displacement meters and can be variously modified.Furthermore, the distance detection unit SSb and the drilling depth detection unit SSc are not limited to non-contact type displacement meters and can also be contact type displacement meters.

[0063] Here, as shown in the upper part of Figure 9, the facing distance between the drilling device A and the structure S is the facing distance Za between the bit 31 at the tip of the rod 32 that constitutes the drifter 30 of the drilling device A and the wall surface SF of the structure S that faces the bit 31. Therefore, this facing distance Za is equal to the movement distance Zb of the drifter 30 when the drifter 30 is moved forward from the standby position (upper part of Figure 9) to the position where the bit 31 contacts the structure S (lower part of Figure 9).

[0064] Therefore, when measuring the opposing distance Za, the drifter 30 is moved forward from the standby position (upper part of Figure 9) to the position where the bit 31 contacts the structure S (lower part of Figure 9), and once the bit 31 contacts the structure S, the drifter 30 is automatically returned to its original standby position.In this series of operations, the position of the drifter 30 when it is in the standby position and the position of the drifter 30 when the bit 31 contacts the structure S are detected by the distance detection unit SSb, and the movement distance Zb of the drifter 30 is measured, thereby measuring the opposing distance Za between the drilling device A and the structure S.

[0065] The reason why the bit 31 of the drifter 30 is temporarily removed from the structure S during the measurement process (the bit 31 is left in contact with the structure S without proceeding to drilling) is that with a rotating device such as a rock drill 33, if the bit 31 is pressed against the wall surface SF of the structure S and then started to rotate, a large torque is required, making it impossible to rotate. Also, the reason why the drifter 30 is returned to the standby position is because it does not take much time to return from the wall surface SF of the structure S to the standby position, since there is almost no load, and this simplifies the control program (simply moving the bit 31 back a little would actually complicate the control program).

[0066] Incidentally, in consideration of the efficiency of the drilling work, it is conceivable to measure the distance between the opposing points on the wall surface SF of the structure S and drill multiple holes in the structure S based on that value. In this case, the series of measurement operations described above can be performed only once, which can significantly improve the efficiency of the drilling work. However, in an actual structure S, the wall surface SF may have unevenness, may be inclined or curved in the horizontal or vertical direction, or may need to have the distance between the drilling device A and the wall surface changed during the drilling range depending on the condition of the slab, etc. Therefore, if the distance between the drilling device A and the wall surface SF is determined based on only one point, a problem arises in that it is not possible to drill holes of the specified depth in some locations.

[0067] Alternatively, it is possible to measure the distance between the drilling device A and the wall surface SF for each hole drilling location and drill multiple holes in the structure S based on the individual values. In this case, the distance between the drilling device A and the wall surface SF is measured for each hole, which improves the depth accuracy of the multiple holes. However, this method involves moving the drifter 30 from its standby position toward the wall surface SF, measuring the distance traveled by the drifter 30, and returning the drifter 30 to its original standby position, which requires a series of measurement operations for each hole, resulting in a significant decrease in the efficiency of the drilling work.

[0068] Therefore, the input / output unit PC of this embodiment has a function to select either a one-point measurement method (first measurement method) that measures the facing distance between the drilling device A and the structure S at one point within the wall surface SF of the structure S, or an all-point measurement method (second measurement method) that measures the facing distance at all points in the drilling location, and also has a function to input (transmit) the selected measurement method information to the control unit C. Then, the control unit C has a function to control the measurement operation of the facing distance based on the measurement method information sent from the input / output unit PC.

[0069] Specifically, a button for selecting the one-point measurement method and a button for selecting the all-point measurement method are displayed on the input / output capable liquid crystal display of the input / output unit PC shown in Fig. 8. The operator can select either the one-point measurement method button or the all-point measurement method button by pressing either the one-point measurement method button or the all-point measurement method button. This selection of measurement method is displayed on the input / output capable liquid crystal display of the input / output unit PC, for example, every time the drilling device A is moved (relocated).

[0070] As another method for setting the measurement method for the distance between the drilling device A and the structure S, an item for the measurement method for the distance between the two devices before drilling can be created in the drilling conditions sheet described above, and the worker can input either the one-point measurement method or the all-point measurement method.

[0071] In this embodiment, when measuring the distance between the drilling device A and the structure S before drilling, for example, if the structure's wall surface is uneven, inclined, or curved, or if the distance between the drilling device A and the wall surface needs to be changed during the drilling range depending on the condition of the slab, the worker can select the all-point measurement method.On the other hand, if the structure's wall surface is not uneven, inclined, or curved, and the distance between the drilling device A and the structure S does not need to be changed during the drilling range, the worker can select the single-point measurement method.This allows holes to be drilled efficiently while ensuring high depth accuracy throughout the entire drilling range.This improves the versatility of drilling operations.

[0072] Next, an example of a hole-drilling method using the hole-drilling system of this embodiment will be described with reference to FIGS.

[0073] First, an operator operates the manual operation unit MU to move the drilling device A on the traveling rail GR to the drilling section. Then, once the drilling device A has been installed in the drilling section, if necessary, the suction pad 71 is extended forward using the slide jack 72 and pressed against the structure S to adsorb it, thereby restraining the drilling device A in place.

[0074] Next, the operator inputs the drilling conditions into multiple drilling condition sheets. In this embodiment, for example, the operator clicks a button such as "Drilling Condition Sheet 1" displayed on the liquid crystal display of the input / output unit PC to read the corresponding drilling condition sheet and set the necessary values. After setting the values, the operator clicks the "Write" button displayed on the liquid crystal display of the input / output unit PC to store the multiple drilling condition sheets in the drilling condition sheet storage unit PCm1. Here, after the drilling conditions have been entered into all of the drilling condition sheets, these drilling condition sheets are stored together in the drilling condition sheet storage unit PCm1. However, the drilling conditions may be entered and stored in the drilling condition sheet storage unit PCm1 for each drilling condition sheet.

[0075] Next, in this embodiment, the worker selects the measurement method (the one-point measurement method or the all-point measurement method described above) for the distance between the drilling device A and the structure S. Here, the selected measurement method is stored in the measurement method memory unit PCm3 by pressing one of the buttons such as "one-point measurement method" or "all-point measurement method" displayed on the liquid crystal display of the input / output unit PC. Note that the steps of inputting and storing the drilling conditions and selecting the measurement method for the distance between the structures may be performed before or in parallel with the relocation of the drilling device A.

[0076] Next, the control unit C reads the drilling condition sheet stored in the drilling condition sheet storage unit PCm1 and the measurement method stored in the measurement method storage unit PCm3. As a result, the lifting motor 61 slides the lifting frame 20 to the upper or lower end, and the traversing motor 43 slides the traversing body 42 to either the left or right end, thereby moving the drifter 30 to the origin position within the wall surface SF of the structure S.

[0077] In this embodiment, the drifter 30 is moved to the origin position, which is the limit of its vertical and horizontal movement, but it may be moved to any position. This is because the movement here is for measuring the opposing distance between the drilling device A and the structure S in the next step, and it does not have to be the origin position. Also, the operation here may involve the worker operating the manual operation unit MU to move the drifter 30 to the origin position.

[0078] Next, the distance between the drilling device A and the structure S is measured. That is, as shown in Figure 9, the drifter 30 is moved forward from the standby position (upper part of Figure 9) to the position where the bit 31 contacts the structure S (lower part of Figure 9), and when the bit 31 contacts the structure S, the drifter 30 is automatically returned to the original standby position. In this series of operations, the distance detection unit SSb detects the position of the drifter 30 when it is in the standby position and the position of the drifter 30 when the bit 31 contacts the structure S, and measures the movement distance of the drifter 30, thereby measuring the distance between the drilling device A and the structure S.

[0079] Next, the lifting motor 61 moves the lifting frame 20 up and down, and the traversing motor 43 moves the traversing body 42 traversally, moving the drifter 30 to the drilling start position set in the drilling condition sheet, and then starting to drive the drifter 30. At this time, a driving force of relatively low rotational speed and low-pressure impact is applied to the drifter 30 (more specifically, the rod 32 with the bit 31 attached to its tip).

[0080] Next, the cover advance / retract motor 87 advances the dust cover 85 until it abuts against the structure S, and at the same time, the dust collector 86 begins suction to prepare for the collection of dust generated during drilling. The dust collector 86 starts and stops suction automatically under the control of the control unit C, starting suction when drilling the first hole and stopping suction after drilling the final hole. Therefore, in the step after moving the drifter 30 (described later) to the next drilling position, the dust collector 86 is already performing suction, so in that step only the advancement of the dust cover 85 is executed.

[0081] Thereafter, the air motor 53 slides the slider 52 to move the drifter 30 forward, and the bit 31 at the tip of the rod 32 is pressed against the drilling position in the structure S to begin drilling. Once drilling has begun, the hole depth is successively detected by the drilling depth detection unit SSc, and it is determined whether the detected drilling depth has reached a predetermined value. This step is for determining whether the drive of the drifter 30 has stabilized as the bit 31 has penetrated the predetermined depth into the structure S. Then, once the drilling depth has reached the predetermined value, it is considered that the drive of the drifter 30 has stabilized, and the drifter 30 is driven with high-speed rotation and high-pressure impact to begin drilling.

[0082] After that, when the hole has been drilled to the specified depth, the drifter 30 is retracted (retracted until the bit 31 at the tip of the drifter 30 is pulled out of the structure S) and returned to the standby position (reference position), and the drive is stopped. At the same time, the dust cover 85 is also retracted and separated from the structure S.

[0083] Next, it is determined whether the current drilling is the final one, and if it is not, the lifting motor 61 and / or the traverse motor 43 are driven to move the drifter 30 to the next drilling position set in the drilling conditions sheet, and the drilling operation is carried out in the same manner as above. Here, if the one-point measurement method is selected as the method for measuring the opposing distance between the drilling device A and the structure S, the drilling of each hole is carried out based on the opposing distance measured at one point. On the other hand, if the all-point measurement method is selected, the opposing distance is measured at each hole position before drilling each hole, and each hole is drilled based on the measurement results for each hole position.

[0084] Next, if it is determined that this is the final drilling, the suction of the dust collector 86 is automatically stopped after the time it is expected that dust will be sucked in (for example, about 3 to 5 seconds) has elapsed. Then, from the output drilling conditions sheet and the drilling results, it is determined whether there are any holes that do not meet the drilling conditions (holes that have been judged to be "drilling failed"), and if it is determined that there are no holes that do not meet the drilling conditions set in the drilling conditions sheet (holes that were not drilled to the set depth), the drilling operation is terminated.

[0085] Next, examples of selection of a method for measuring the distance between the above-mentioned drilling device A and the structure S will be described with reference to Figures 10 to 13. Figures 10 to 13 are plan views of the main part of an example of the drilling area in each process.

[0086] First, as shown in Figure 10, the drilling device A is moved along the traveling rail GR and relocated to the first drilling section X1. In the first drilling section X1, the wall surface SF of the structure S is flat, so the worker selects the one-point measurement method as the measurement method for the opposing distance between the drilling device A and the structure S via the input / output unit PC of the drilling system SYS. Then, in the first drilling section X1, the opposing distance between the drilling device A and the structure S is measured at only one position within the surface of the wall surface SF.

[0087] Next, as shown in Figure 11, multiple holes H are drilled in the structure S in the first drilling section X1 based on the opposing distance measured at one point, and then the drilling device A is moved along the traveling rail GR to the adjacent second drilling section X2. In the second drilling section X2, because the wall surface SF of the structure S has unevenness, the worker selects the all-point measurement method as the measurement method for the opposing distance between the drilling device A and the structure S via the input / output unit PC of the drilling system SYS. Then, in the second drilling section X2, the opposing distance between the drilling device A and the structure S is measured for each drilling position of each hole before drilling each hole.

[0088] Next, as shown in FIG. 12, a plurality of holes H are drilled in the structure S in the second drilling section X2 based on the distance between the opposing sections measured for each drilling position, and then the drilling device A is moved along the traveling rail GR to the adjacent third drilling section X3. Drilling In section X3, the wall surface SF of structure S is recessed further back than the wall surface SF of the first drilling section X1, but is generally flat, so the worker selects the one-point measurement method as the measurement method for the opposing distance between the drilling device A and structure S through the input / output unit PC of the drilling system SYS. Then, in the third drilling section X3, the opposing distance between the drilling device A and structure S is measured at only one position within the surface of the wall surface SF.

[0089] Next, as shown in Figure 13, multiple holes H are drilled in the structure S in the third drilling section X3 using the distance measured at one point. The drilling device A is then moved along the traveling rail GR to the adjacent fourth drilling section X4. In the fourth drilling section X4, the wall surface SF of the structure S is inclined toward the traveling direction of the drilling device A, so the operator selects the all-point measurement method as the measurement method for the distance between the drilling device A and the structure S via the input / output unit PC of the drilling system SYS. Then, in the fourth drilling section X2, the distance between the drilling device A and the structure S is measured for each drilling position before drilling each hole. Then, multiple holes are drilled in the fourth drilling section. Note that while the wall surface of the structure S is inclined along the traveling direction of the drilling device A, the all-point measurement method can also be selected if the wall surface SF of the structure S is inclined or curved along its height.

[0090] In this way, in this embodiment, the method for measuring the distance between the drilling device A and the structure S can be selected from the one-point measurement method and the all-point measurement method depending on the condition of the wall surface SF of the structure S, so holes can be drilled efficiently while ensuring high depth accuracy throughout the entire drilling range. Therefore, the versatility of the drilling work can be improved.

[0091] 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 description of the above embodiments, but should be interpreted solely in accordance with 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.

[0092] For example, in the above-described embodiment, the drilling machine is the drifter 30, but the present invention is not limited to this. In other words, various drilling machines capable of drilling holes in the 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.

[0093] Furthermore, the structure of the drilling device A is not limited to the embodiment described above. In other words, drilling devices A of various structures 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. For example, the drilling device A can be applied to a small drilling device that is equipped with a mechanism for moving a drilling machine such as the drifter 30 only in the vertical direction, and the lateral movement of the drifter 30 is achieved by moving the entire drilling device A along the traveling rail GR.

[0094] Furthermore, in the above-described embodiment, an example is given of the case where the running rail GR has an integrated structure over the entire drilling range, but this is not limited to this. For example, the running rail GR may be constructed by connecting multiple unit rails along the longitudinal direction, and the unit rail in the drilling section where the drilling work has been completed may be removed and reconnected to the tip of the running rail (the tip in the traveling direction of the drilling device A). [Industrial Applicability]

[0095] The above explanation shows the case where the drilling system of the present invention is used to drill holes to insert shear reinforcement bars into existing concrete structures, but this is not limited to this and the system can be widely applied to drilling holes in concrete structures. [Explanation of symbols]

[0096] 10 Main frame 11 Girder material 12 braces 13 Pillar material 14 Guide rail 20 Lifting frame 21 Frame Rod 30 Drifter (drilling means) 31-bit 32 Rod 33 Jackhammer 40 Transverse member (in-plane movement means) 41 Guide rail for traverse (in-plane movement means) 42 Transverse body (in-plane movement means) 43 Traverse motor (in-plane movement means) 44 Ball screw (in-plane movement means) 50 Moving member (moving means) 51 Advance / retreat guide rail 52 Slider 53 Advance / retreat motor 54 endless belt 60 Chain (in-plane movement means) 60a First chain (in-plane moving means) 60b Second chain (in-plane moving means) 61 Lifting motor (in-plane movement means) 61a Drive sprocket (in-plane moving means) 62, 62a, 62b, 62c, 62d, 62e Sprockets (in-plane moving means) 70 Reaction force transmission section 71 Suction pad 72 Slide jack 81 Travel motor (drilling device movement means) 82 Roller (drilling device moving means) 82a Drive roller 82b driven roller 83 Belt (drilling equipment movement means) 84 Traveling drive shaft (drilling device moving means) 85 Dustproof cover 86 Dust collector 87 Cover movement motor SYS Drilling System A Drilling equipment C. Control unit (control means) PC input / output section (input means) PCm1 Drilling condition sheet storage section PCm2 Drilling result storage section PCm3 measurement method memory section MU manual operation section IVa, IVb, IVc, IVd inverters SS Drilling status detection unit SSa drilling position detection unit SSaa Lift position detector SSab traverse position detection unit SSb distance detection unit (means for measuring distance between opposing vehicles) SSc drilling depth detection unit SSd Slide jack stroke detector SSe suction pad ON / OFF detection unit SVa, SVb solenoid valves GR running rail H hole R shear reinforcement steel S structure SF wall

Claims

1. a drilling device that drills holes in a structure to be drilled; a control means for controlling the operation of the drilling device; an input means for inputting a manner of operation of the drilling device to the control means; Equipped with The drilling device is a drilling device moving means for moving the drilling device itself along the wall surface of the structure; a drilling means for drilling holes in the structure; an in-plane moving means for moving the hole-making means along the wall surface and causing the hole-making means to drill holes in a drilling section, which is an area of ​​the structure facing the installation position of the hole-making device; an advancing / retracting means for advancing the hole-making means toward the wall surface and retracting the hole-making means from the wall surface; a distance measuring means for measuring a distance between the drilling device and the structure; Equipped with The input means has a function of selecting either a first measurement method for measuring the opposing distance in the drilling section at one point on the wall surface or a second measurement method for measuring the opposing distance in the drilling section at all points on the drilling location, and has a function of inputting the selected measurement method information into the control means, The control means controls the drilling of each hole based on the opposing distance at one point in the drilling section measured by the opposing distance measuring means when the measurement method information sent from the input means is the first measurement method, and controls the drilling of each hole based on the measurement results by measuring the opposing distance at the position of each hole using the opposing distance measuring means when the measurement method information sent from the input means is the second measurement method. A drilling system characterized by:

2. 2. The drilling system according to claim 1, wherein the input means has a wireless communication function and is electrically connected to the control means via the wireless communication function.

3. A drilling system as described in claim 1 or 2, characterized in that the opposing distance measuring means moves the drilling means from a standby position toward the wall surface and measures the distance traveled by the drilling means until the drilling tip of the drilling means contacts the wall surface as the opposing distance.

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