Drilling system and drilling method

Abstract

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

Description

[Technical Field]

[0001] The present invention relates to a drilling system and a drilling method for drilling holes in a concrete structure. [Background technology]

[0002] For concrete structures that are in contact with the ground above ground, underground, semi-underground, etc., or concrete structures built on the ground near railways, roads, etc., a construction method is used in which holes are drilled from one side of the structure for the purpose of earthquake reinforcement, and the holes are filled with anchoring material, and then 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, for existing structures such as roads, bridges, dams, and levees that have concrete frames, in order to maintain or reinforce their strength, a reinforcement method is used in which holes are drilled at specified intervals into the sides and top and bottom surfaces of the frame, post-installed anchors are embedded, reinforcement is arranged to connect with the post-installed anchors, and further concrete is poured.

[0004] During drilling work, the on-site worker firmly holds the handle and side handle of the drilling device, which are heavy objects, with both hands, and presses the bit against the drilling position in the structure to continue digging.

[0005] 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]

[0006] [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]

[0007] Now, to reinforce a structure against earthquakes, many holes must be drilled in the structure to embed shear reinforcing bars. Similarly, with the additional drilling method, many holes must be drilled in the structure to embed post-installed anchors. This makes work using the conventional drilling equipment mentioned above heavy labor, resulting in poor work efficiency.

[0008] Furthermore, if multiple holes could be automatically drilled in a concrete structure, workers would be freed from the drilling work and be able to perform other tasks, thereby improving work efficiency and shortening construction time.

[0009] However, since reinforcing bars and buried objects (such as pipes) are placed inside concrete structures, these become obstacles to automatic drilling.

[0010] The present invention has been made in light of the above-mentioned technical background, and aims to provide a drilling system and a drilling method that can automatically drill multiple holes in a concrete structure in accordance with drilling conditions. [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 an input unit into which a drilling condition sheet is input for setting drilling conditions including the drilling order, drilling positions, and drilling depths for a plurality of holes to be drilled in a vertical row or a horizontal row in a concrete structure; a drilling condition sheet storage unit for storing the drilling condition sheet input in the input unit; and a drilling machine for drilling holes in the structure, the drilling machine being driven by a lifting motor. Vertically movable and is guided by a guide rail by a traveling motor and moves along the structure. Horizontallya drilling state detection unit comprising a movable drilling device, a lifting position detection unit which detects the lifting position of the drilling machine, a drilling depth detection unit which detects the depth of the hole drilled by the drilling machine, and a movement distance detection unit which detects the movement distance of the drilling device; and a control unit which reads the drilling condition sheet in the drilling condition sheet storage unit and controls the drilling machine to drill holes sequentially by repeatedly raising and lowering the drilling machine using the lifting motor and moving the drilling device using the travel motor based on the drilling state detection unit, and which stops drilling and controls the drilling of the next hole in the drilling sequence for holes detected by the drilling state detection unit as being unable to drill a hole of a depth that meets the drilling conditions. For each hole, including whether or not the depth that conformed to the set drilling conditions was drilled a drilling result storage unit for storing drilling results; If it is determined from the drilling results stored in the drilling result storage unit that there is a hole that has not been drilled to the set drilling depth, the drilling condition sheet is updated and input to the input unit so that the drilling position for that hole is shifted by a predetermined distance in at least one of the vertical and horizontal directions and drilling is limited to that hole, and the updated drilling condition sheet is input to the input unit and stored in the drilling condition sheet storage unit, and the control unit reads the updated drilling condition sheet that has been input to the input unit and stored in the drilling condition sheet storage unit, and drives the drilling device to perform control to re-drill the hole using the drilling machine. 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 drilling state detection unit further includes a drilling surface distance detection unit that detects the distance between the drilling device and the surface of the structure at the hole position to be drilled in the structure, and the control unit controls the drilling by the drilling machine based on the detection result by the drilling surface distance detection unit for each one or more drillings by the drilling machine or each movement of the drilling device.

[0013] The drilling system of the present invention described in claim 3 is characterized in that, in the invention described in claim 1 above, the drilling state detection unit further includes a wall distance detection unit that detects the distance between the drilling device and the wall surface of the structure, and the control unit controls the drilling by the drilling machine based on the detection result of the wall distance detection unit detected prior to the start of drilling by the drilling device.

[0014] The drilling system of the present invention described in claim 4 is characterized in that, in the invention described in any one of claims 1 to 3 above, the input unit receives the updated drilling condition sheet so that the drilling position is shifted in at least one of the vertical and horizontal directions to perform drilling.

[0015] 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 detection unit determines that the drilling machine is unable to drill a hole that conforms to the drilling conditions when the drilling depth does not reach a set value within a specified time or when drilling stagnates.

[0018] Claim 6 The drilling system of the present invention described above Claims 1 to 5 In the invention described in any one of the above, the drilling condition sheets are provided in a plurality of selectable types.

[0019] In order to solve the above problems, Claim 7 The drilling method of the present invention described in Vertically movable along the structure Horizontally A drilling method for automatically drilling a plurality of holes in a structure using a movable drilling device, comprising: an input step of inputting a drilling condition sheet including the drilling order, drilling positions, and drilling depths for a plurality of holes to be drilled in the structure in vertical or horizontal rows; a drilling condition sheet reading step of reading the drilling condition sheet input in the input step; and a drilling step of drilling holes sequentially with the drilling machine by repeatedly raising and lowering the drilling machine and moving the drilling device based on the drilling condition sheet read in the drilling condition sheet reading step, and for holes that the drilling machine cannot drill to a depth that meets the drilling conditions, stopping drilling and drilling the next hole in the drilling order. For each hole, including whether or not the depth that conformed to the set drilling conditions was drilled and a drilling result storage step for storing the drilling results. If it is determined from the stored drilling results that a hole has not been drilled to a depth that meets the set drilling conditions, the drilling position for that hole is shifted by a predetermined distance in at least one of the vertical and horizontal directions, and drilling is limited to that hole. Enter the updated drilling conditions sheet, In the drilling step, the drilling device is driven based on the updated drilling condition sheet to re-drill holes using the drilling machine. It is characterized by:

[0020] Claim 8 The hole-drilling method of the present invention described above Claim 7 The invention described is characterized in that the distance between the drilling device and the surface of the structure at the position of the hole to be drilled in the structure is detected each time the drilling machine drills a hole once or multiple times, or each time the drilling device moves.

[0021] Claim 9 The hole-drilling method of the present invention described above Claim 7 In the described invention, the drilling process is characterized in that the drilling machine drills holes based on the detection results of the distance between the drilling device and the wall surface of the structure detected prior to the drilling device starting to drill holes.

[0022] Claim 10 The hole-drilling method of the present invention described above Claims 7 to 9 In the invention described in any one of the above, the input process is characterized in that the updated drilling condition sheet is input so that the drilling position is shifted in at least one of the vertical and horizontal directions to perform drilling.

[0023] Claim 11 The hole-drilling method of the present invention described above Claims 7 to 10 In the invention described in any one of the above, in the hole drilling step, when the hole drilling depth does not reach a set value within a predetermined time, [Effects of the Invention]

[0026] In this embodiment of the present invention, under the control of the control unit, a drilling conditions sheet is read in which drilling conditions, including the drilling order, drilling positions, and drilling depths for multiple holes to be drilled in a vertical row or a horizontal row in a concrete structure, are set, and the drilling machine drills holes based on the drilling conditions sheet. Furthermore, for holes for which the drilling machine is unable to drill a hole with a depth that meets the drilling conditions, the drilling is stopped and the next hole in the drilling order is drilled. If there are any holes for which the drilling machine is unable to drill a hole with a depth that meets the drilling conditions, the hole is re-drilled based on the updated drilling conditions sheet Sh, limited to that hole, by shifting the drilling position.

[0027] This makes it possible to automatically drill multiple holes in concrete structures according to drilling conditions. [Brief explanation of the drawings]

[0028] [Figure 1] An explanatory diagram showing a portion of a concrete structure that has been earthquake-resistant reinforced by inserting shear reinforcement steel bars into holes drilled with a drilling system according to one embodiment of the present invention. [Figure 2] A side view showing the device configuration of a drilling system according to one embodiment of the present invention. [Figure 3] 3 is a plan view showing the chassis and guide rails of the drilling device that constitutes the drilling system of FIG. 2. [Figure 4] 3 is a diagram showing the main parts of the drilling device and guide rails that make up the drilling system of FIG. 2. FIG. [Figure 5] 5 is a diagram showing the main parts of the drilling device and the guide rails that make up the drilling system of FIG. 2, viewed from a direction that is 90 degrees horizontally different from that of FIG. 4. [Figure 6] 3 is a side view showing a rotary encoder and a guide rail attached to a drilling device that constitutes the drilling system of FIG. 2. [Figure 7] 7 is a diagram showing the rotary encoder and guide rail attached to the drilling device that constitutes the drilling system of FIG. 2, viewed from a direction 90 degrees horizontally different from that of FIG. 6. [Figure 8] FIG. 3 is a plan view showing a guide rail that constitutes the drilling system of FIG. 2. [Figure 9] 9 is an enlarged plan view showing an end portion of the guide rail of FIG. 8. FIG. [Figure 10] 9 is a view of the guide rail of FIG. 8 viewed horizontally from an end portion. [Figure 11] A block diagram showing a control system of a drilling system according to one embodiment of the present invention. [Figure 12] FIG. 10 is an explanatory diagram showing an example of a drilling position in a wall of a concrete structure. [Figure 13] 13 is an explanatory diagram showing an example of a drilling conditions sheet that sets the drilling conditions for drilling holes at the drilling positions of FIG. 12. FIG. [Figure 14] FIG. 14 is an explanatory diagram showing an example of a drilling conditions sheet in which drilling conditions are set for drilling holes at drilling positions different from those shown in FIG. 13. [Figure 15]FIG. 15 is an explanatory diagram showing an example of a drilling conditions sheet in which drilling conditions are set for drilling holes at drilling positions different from those shown in FIGS. 13 and 14. [Figure 16] This is an explanatory diagram showing an example of a history file when drilling is performed based on the drilling condition sheet of Figure 12. [Figure 17] An explanatory diagram showing an example of an updated drilling conditions sheet. [Figure 18] This is an explanatory diagram showing an example of a history file when drilling is performed based on the drilling conditions sheet of Figure 17. [Figure 19] 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. [Figure 20] 1 is a flowchart illustrating a process for automatically drilling holes in a concrete structure using a drilling system according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0029] 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.

[0030] The drilling device A1, a component of the drilling system A of this embodiment, is used to drill holes H, such as anchor holes (holes for embedding post-installed anchors), from one side 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 (road, bridge, dam, embankment, etc.) constructed on the ground near a railway, road, or other structure. After filling the drilled holes H with anchoring material M, shear reinforcing bars R are inserted and integrated with the structure S, thereby improving the shear strength of the structure S. The shear reinforcing bars R may be, for example, a commonly used reinforcing bar R1 with one end threaded and diagonally cut, and a hexagonal nut (anchor) R2 attached to the tip.

[0031] As shown in Figure 2, the drilling system A of this embodiment includes a drilling device A1 in which a hammer drill (drilling machine) 1 for drilling holes in a structure S to be drilled is movable forward and backward, and a guide means A2 for guiding the movement of the drilling device A1 along the structure S.

[0032] Here, the drilling device A1 is equipped with a lifter 10 that supports the hammer drill 1 so that it can be raised and lowered. This lifter 10 is equipped with a lifter base 11, a lifting mast 12 mounted on the lifter base 11, and a lifting table 14 that is driven by a lifting motor 13 installed at the lower end of the lifting mast 12 and rises and falls along the side of the lifting mast 12, and the hammer drill 1 described above is installed on the lifting table 14.

[0033] Two vertically extending slits (not shown) are formed on the side of the lifting mast 12, which has a rectangular horizontal cross section, where the lifting table 14 is installed, to guide the lifting and lowering of the lifting table 14. Two guide plates (not shown) attached to the rear of the lifting table 14 are fitted into these slits, forming a small gap between them and the slits, allowing the lifting table 14 to move vertically. As a result, the lifting table 14 moves up and down the lifting mast 12 along the slits via the guide plates. The lifter 10 also has a vertically disposed ball screw 15 that is rotated by the lifting motor 13 and is threadedly engaged with the lifting table 14. Therefore, when the ball screw 15 is rotated by the drive of the lifting motor 13, the lifting table 14 moves up or down along the slits. When the lifting motor 13 stops, the lifting table 14 stops at the height position at that time.

[0034] The hammer drill 1 mounted on the lifting table 14 of the lifter 10 is driven by a drill drive motor 1b (Fig. 11), and is capable of striking and / or rotating, with the strength of the impact also adjustable. However, strength adjustment is not required. The hammer drill 1 is mounted on a reciprocating member 2 that reciprocates linearly on the lifting table 14, and can be moved back and forth by the reciprocating member 2 in the hole-drilling direction.

[0035] Here, the advancing / retracting member 2 is equipped with a slider 2a on which the hammer drill 1 is mounted, a slide guide 2b that holds the slider 2a so that it can move back and forth in the drilling direction, and an air cylinder (Fig. 11) 1c as thrust applying means that applies thrust (the thrust for reciprocating movement) to the slider 2a. The air cylinder 1c is a two-port type with cylinder chambers located in front of and behind the slider 2a, and air is supplied to and exhausted from each cylinder chamber. When air is supplied to either cylinder chamber, the slider 2a slides, guided by the slide guide 2b, and this causes the hammer drill 1 on the slider 2a to move back and forth.

[0036] In this embodiment, a pneumatic operating unit 1d is used as an operating member for operating the power switch of the hammer drill 1. A tube (not shown) through which air is supplied as a driving force is detachably connected to this pneumatic operating unit 1d, and when air is injected, the pneumatic operating unit 1d expands and presses the power switch, turning the power on, and when the air is released, the pneumatic operating unit 1d contracts, releasing the pressure on the power switch and turning the power off.

[0037] Then, air is supplied to the pneumatic operation unit 1d to turn on the power switch of the hammer drill 1, rotating the drill drive motor to start driving the hammer drill 1, and the air cylinder 1c moves the slider 2a in a direction approaching the concrete structure S that is the drilling target, causing the hammer drill 1 to advance, and the tip of the bit 1a of the hammer drill 1 is pressed against the drilling position in the structure S, and drilling is carried out. After drilling is completed, the air cylinder 1c moves the slider 2a in a direction away from the structure S, causing the hammer drill 1 to retreat, whereupon the bit 1a of the hammer drill 1 is removed from the hole and returned to its standby position.

[0038] In this embodiment, the maximum drilling depth of the hammer drill 1 is approximately 250 mm. However, the drilling depth is determined by the length of the bit 1a attached to the hammer drill 1 and the sliding length of the slider 2a, and is not limited to 200 mm as in this embodiment.

[0039] On the side of the lifting mast 12 opposite to the side where the lifting table 14 is installed, a regulator 12a is arranged to adjust the air pressure from the air compressor 36 (described later) to a predetermined value when driving the air cylinder 1c that applies propulsive force to the slider 2a and the pneumatic operating unit 1d that operates the power switch of the hammer drill 1.

[0040] In addition, as a thrust imparting means for imparting a thrust to the slider 2a, a thrust imparting means other than the air cylinder 1c may be used, such as a ball screw that moves the slider 2a forward and backward by rotating, and a drill advance / retract motor that rotates this ball screw.

[0041] As shown in Figure 3, the drilling device A1 is provided with a chassis 20 including the aforementioned lifter base 11 on which the lifting mast 12, a component of the lifter 10, is mounted. This chassis 20 is equipped with a pair of first beams 21 that are arranged parallel to each other and perpendicular to the movement direction of the drilling device A1 (described later), and a pair of second beams 22 that are fixed to both sides of the first beams 21 and are parallel to each other, and has a generally rectangular frame shape in plan view. The length of the second beam 22 is longer than the width formed by the pair of first beams 21, and overhang portions 22a are formed on both sides of the second beam 22 outside the fixed positions of the first beams 21.

[0042] In this embodiment, columns made of square tube steel are used for the first beam 21 and the second beam 22, but this is not limited to this, and it is possible to use steel materials other than columns, such as H-shaped steel.

[0043] The above-mentioned lifter base 11 is equipped with a lifting motor 13 and is fixed between a pair of first beams 21 at approximately the center in the longitudinal direction of the first beams 21. Furthermore, a reinforcing frame 23 for reinforcing the first beams 21 is provided between the pair of first beams 21 near the lifter base 11.

[0044] Brackets 24a are attached to both ends of a pair (i.e., two) of second beams 22 at a total of four locations, and outriggers 24 are attached to the brackets 24 for stabilizing the chassis 20 by touching the ground when the hammer drill 1 is drilling a hole. In addition, caster stands 25 that are L-shaped in plan view are installed at four locations so as to straddle the end of the first beam 21 and the overhanging portion 22a of the second beam 22. Casters 26 that movably support the chassis 20, i.e., the drilling device A1, are attached to each caster stand 25 in a direction approximately perpendicular to the direction of movement of the hammer drill 1.

[0045] 4 and 5, a geared motor (travel motor) 28, having a pinion gear 27 that meshes with a rack gear 34 (described later) attached to an output shaft 28a, is installed on the chassis 20 via a bracket 29. This geared motor 28 is a device in which a motor and a reducer are integrated, and the rotation of the motor is reduced by the reducer and the rotational force is transmitted to the output shaft 28a.

[0046] In this embodiment, a geared motor 28 capable of obtaining large torque is used as the driving motor, but it is also possible to use a motor alone or a motor with a separate reducer, and the driving motor is not limited to the geared motor 28.

[0047] As shown in Figures 6 and 7, a rotary encoder 31 that detects the travel distance of the hole drilling device A1 is attached to the chassis 20 via a bracket 30 on the opposite side of the geared motor 28 across the pair of first beams 21. A pinion gear 32 that meshes with a rack gear 34 (described later) is also attached to the rotating shaft 31a of this rotary encoder 31. The rotary encoder 31 is also stored in a housing 31b to prevent the intrusion of surrounding dust. The detection of the travel distance of the hole drilling device A1 by the rotary encoder 31 will be described later.

[0048] In the geared motor 28 of this embodiment, a servo motor capable of controlling the rotational position is used as the motor that is the power source, and by converting the mechanical displacement of rotation into an electrical signal (pulse) using a rotary encoder 31, it is possible to stop the servo motor at the number of pulses counted by a counter not shown.

[0049] In the drilling system A of this embodiment, a guide means A2 for guiding the movement of the drilling device A1 along the structure S is provided.

[0050] 8 to 10, this guide means A2 comprises a guide rail 33 laid along the structure S to be drilled, and a rack gear 34 attached along the extension direction of the guide rail 33. The rack gear 34 is in mesh with the pinion gears 27, 32 described above (i.e., the pinion gear 27 attached to the output shaft 28a of the geared motor 28, and the pinion gear 32 attached to the rotation shaft 31a of the rotary encoder 31).

[0051] Therefore, when the geared motor 28 rotates, the drilling device A1 is guided by the guide rail 33 via the pinion gear 27 and the rack gear 34, and moves along the structure S by the rotation of the casters 26 attached to the drilling device A1. At this time, the rotary encoder 31 rotates as the drilling device A1 moves (more specifically, the rotary encoder 31 rotates via the rack gear 34 and the pinion gear 32), so the movement distance of the drilling device A1 can be detected by setting the number of pulses to the next movement position and counting the number of pulses generated by the rotary encoder 31 with a counter. Then, by stopping the geared motor 28 when the set number of pulses is reached, the drilling device A1 can be moved accurately to the desired position.

[0052] In the drilling system A of this embodiment, a control unit (FIG. 11) C is provided that controls the rotation of the geared motor 28 based on the rotary encoder 31 so that the drilling device A1 moves to a preset movement position, and the drilling device A1 can be moved to a predetermined drilling position by automatic control. Furthermore, the control unit C not only controls the rotation of the geared motor 28, but also controls the rotation of the lifting motor 13 that raises and lowers the lifting table 14 on which the hammer drill 1 is mounted, and controls the drilling operation by the hammer drill 1, and drilling of the structure S is performed by automatic control at a preset drilling position and drilling depth. Details of the control of the drilling system A will be described later.

[0053] In this embodiment, rotary encoder 31 is used as a means for detecting the travel distance of drilling device A1, but a rangefinder that measures the travel distance of drilling device A1 using laser light, ultrasonic waves, or the like may also be used. Furthermore, to improve detection accuracy, rotary encoder 31 and a rangefinder may be used together. Furthermore, if the motor that constitutes geared motor 28 is a stepping motor, the number of pulse signals generated by the controller and input to the motor corresponds to the amount of rotation of the motor (i.e., the travel distance of drilling device A1), and therefore the controller may also be used as a means for detecting the travel distance of drilling device A1. In this case, a rangefinder that measures the travel distance of drilling device A1 using laser light, ultrasonic waves, or the like may also be used, or a controller and a rangefinder may be used together to improve detection accuracy.

[0054] 4, 6, 8 to 10, the guide rail 33 of the present embodiment described above includes two rails 33a made of angle bars arranged parallel to each other, and connecting plates 33b, which are steel plates arranged at a predetermined interval between the rails 33a and welded to connect the two rails 33a at their bottoms. The guide rails 33 are also provided with bridge plates 33c, which are welded to span the adjacent connecting plates 33b and have elongated holes 33ca formed in them, and are fixed to the ground with anchor bolts 33d passing through the elongated holes 33ca in the bridge plates 33c.

[0055] 8, a connecting plate 33b (an independent connecting plate 33b) that is not spanned by the bridge plate 33c is installed near the connecting plate 33b that is spanned by the bridge plate 33c (at a position spaced the length of the bridge plate 33c). In this way, if the anchor bolt 33d cannot be driven into the originally planned position, one side of the bridge plate 33c is installed so as to span the independent connecting plate 33b, so that the anchor bolt 33d can be driven in again by shifting the driving position.

[0056] As shown in Figures 3, 4 and 6, a retaining roller 35 for maintaining the rack gear 34 and the pinion gears 27, 32 in meshed state is attached to the chassis 20 at a position adjacent to the geared motor 28 and the rotary encoder 31.

[0057] The holding rollers 35 are arranged as a pair between the two rails 33a and rotate in contact with the respective rails 33a as the drilling device A1 moves. As a result, the holding rollers 35 rotate and act as guides when the drilling device A1 moves, thereby keeping the rack gear 34 and the pinion gears 27, 32 in mesh with each other and functioning as part of the reaction force mechanism when drilling.

[0058] The rail 33a may be formed of a material other than an angle bar. The holding member that holds the rack gear 34 and the pinion gears 27, 32 in mesh is not limited to the holding roller 35 shown in this embodiment, and may have a structure other than that of this embodiment, such as a structure in which there is one rail 33a and one holding roller 35, and the rack gear 34 and the rail 33a are sandwiched between the one holding roller 35 and the pinion gears 27, 32.

[0059] In this embodiment, the rack gear 34 is attached along the side of the guide rail 33, the pinion gear 27 is attached to the output shaft 28a of the geared motor 28 that protrudes downward, and the pinion gear 32 is attached to the rotary shaft 31a of the rotary encoder 31 that protrudes downward. The rack gear 34 can also be attached facing upward, but doing so avoids the problem of dust getting in and accumulating between the rack gear 34 and the pinion gears 27, 32 when drilling a structure, allowing the drilling device A1 to move smoothly at all times. However, the attachment position of the rack gear 34 does not have to be the side of the guide rail 33.

[0060] 2, an air compressor 36 is mounted on the rear of the chassis 20 to supply air to the air cylinder 1c that propels the slider 2a and the pneumatic operating unit 1d that operates the power switch of the hammer drill 1. A dust collector 37 is also mounted on the air compressor 36. The tip of a suction hose (not shown) extending from the dust collector 37 is connected to the bit 1a of the hammer drill 1, and dust generated when drilling the structure S is sucked into the dust collector 37.

[0061] Furthermore, behind the air compressor 36, a control box 38 is mounted which houses the control panel on which the control unit C is mounted, a distribution panel, and various devices.

[0062] According to such a drilling system A, the drilling device A1 has a pinion gear 27 attached to the output shaft 28a of a geared motor 28 that meshes with a rack gear 34 attached to a guide rail 33, and as the geared motor 28 rotates, the drilling device A1 is guided along the guide rail 33 via the pinion gear 27 and rack gear 34, and moves along the structure S by rotating the casters 26.

[0063] When drilling a hole in a concrete structure S using the drilling device A1 having the above configuration, the geared motor 28 is rotated and the drilling device A1 is moved to a predetermined position relative to the structure S, guided by the guide rail 33. At this time, the outriggers 24 may be grounded to fix the drilling device A1 in that position.

[0064] Next, the height of the hammer drill 1 is adjusted by the lifter 10 so that the hammer drill 1 is at the target drilling position. Specifically, the height of the hammer drill 1 is adjusted by raising and lowering the lift table 14 using the lift motor 13.

[0065] Then, air is supplied to the pneumatic operating unit 1d to turn on the power switch of the hammer drill 1, and the hammer drill 1 is moved forward to press the tip of the bit 1a against the drilling position in the structure S to drill a hole. That is, the slider 2a is moved by the air cylinder 1c, which is the advancing / retracting member 2, and the tip of the bit 1a of the hammer drill 1 is pressed against the drilling position to drill a hole.

[0066] Once drilling is complete, the slider 2a is moved away from the structure S to move the hammer drill 1 backward and return it to the standby position. Then, the lifter 10 raises and lowers the hammer drill 1 to the next drilling position, where drilling is performed in the same manner, and so on, drilling holes sequentially in the vertical direction.

[0067] After drilling one vertical row of holes in this way, the geared motor 28 is rotated to move the drilling device A1 along the structure S to the next drilling position, and drilling is performed in the same manner as described above. Then, this operation is repeated to continue drilling holes.

[0068] In this way, according to the drilling device A1 of this embodiment, it is possible to automatically move the drilling device A1 along the structure S to be drilled, so that by simply moving the drilling device A1 and adjusting the height with the lifter 10, it is possible to drill holes in the concrete structure S with the hammer drill 1, making it possible to drill holes in the structure S while reducing the burden on the worker.

[0069] The guide means A2, which is equipped with the guide rail 33 and the rack gear 34, does not have to be laid over the entire length of the structure S to be drilled. In other words, if the guide means A2 is removed from the portion where drilling has been completed and laid and extended in the portion where drilling will be performed, the drilling device A1 can be moved automatically to drill continuously even if the total length of the guide means A2 is shorter than the total length of the structure S to be drilled.

[0070] Figure 11 is a block diagram of the control system of the drilling system A equipped with the drilling device A1 having the above configuration. In Figure 11, blocks connected by dashed lines indicate that they are in an indirect relationship.

[0071] As shown in Figure 11, the drilling system A is composed of the above-mentioned drilling device A1, an input / output unit PC such as a PC (personal computer) that inputs (sets) the drilling condition sheet Sh (Figures 13, 14, and 15) that sets various drilling conditions for the structure S and outputs the drilling results, a control unit C that controls the operation of the entire drilling system A, a drilling condition detection unit SS that detects the drilling condition of the drilling device A1, and a manual operation unit MU such as a pendant switch that is manually operated by an operator. The input / output unit PC also has a drilling condition sheet memory unit PCm1 in which the drilling condition sheet Sh is stored and a drilling result memory unit PCm2 in which the drilling results are stored.

[0072] The drilling condition sheet Sh stored in the drilling condition memory unit PCm1 is a sheet that sets the drilling conditions for the wall of the structure S, and the drilling conditions are entered by the worker taking into consideration the thickness (concrete thickness) of the structure S, the position of the rebar placed in the structure S, the size of the drilling area, etc. However, the values ​​may also be entered automatically using AI (Artificial Intelligence). As will be described later, the control unit C reads the drilling condition sheet Sh stored in the drilling condition sheet memory unit PCm1 and performs drilling.

[0073] The drilling results stored in the drilling result memory unit PCm2 are the drilling results of 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, and in this embodiment, this output is referred to as a history file F.

[0074] In addition, the input / output unit PC allows the worker to check the drilling condition sheet Sh stored in the drilling condition sheet memory unit PCm1 and the drilling results stored in the drilling result memory unit PCm2 whenever necessary.

[0075] Furthermore, in the drilling system A of this embodiment, the input / output unit PC is an integrated unit that combines an input unit for inputting (setting) the drilling condition sheet Sh and an output unit for outputting the history file F, which is the drilling results, but the input unit and output unit may be separate from each other. Numerical values, etc. are input into the drilling condition sheet Sh using various input media such as a keyboard, mouse, or touch panel. The history file F is also output to various output media such as an LCD display or printed paper medium.

[0076] The drilling conditions sheet Sh and history file F will now be explained using Figures 12 to 18. Figure 12 is an explanatory diagram showing an example of a drilling position relative to the wall of structure S, Figures 13, 14 and 15 are explanatory diagrams showing examples of drilling conditions sheets Sh1, Sh2 and Sh3 in which the drilling conditions for drilling at the drilling position of Figure 12 are set, Figure 16 is an explanatory diagram showing an example of a history file when drilling is performed based on the drilling conditions sheet Sh1 of Figure 13, Figure 17 is an explanatory diagram showing an example of an updated drilling conditions sheet Sh1, and Figure 18 is an explanatory diagram showing an example of a history file when drilling is performed based on the drilling conditions sheet Sh1 of Figure 17.

[0077] In Figure 12, circles indicate holes H to be drilled in the structure S, and the three-digit number assigned to each hole H serves as a drilling number, which also indicates the drilling order. The numbers written below the three-digit number indicate the lift setting value (the vertical movement distance of the hammer drill from the origin) and the movement setting value (the movement distance of the drilling device from the origin) when the initial drilling position is set to the origin (0,0). For the lift setting value, lifting the hammer drill 1 is a negative value. Therefore, lowering the hammer drill 1 is a positive value, but the plus sign is omitted. In this embodiment, the drilling device A1 moves in only one direction, so the movement setting value does not use a plus or minus sign to identify the direction, as in the vertical movement of the hammer drill 1. However, when the drilling device A1 moves back and forth, the movement direction is identified by a sign.

[0078] As shown in Figure 12, the drilling order is as shown by the numbers attached to each hole H, with the upper left hole H (hole number: 101) being the hole at the origin (0,0) to be drilled first, followed by hole H (800,0) with hole number 102, which is 800 mm below the origin, hole H (400,200) with hole number 103, which is 200 mm to the right of the origin and 400 mm below, and hole H (- 400,200), hole H (0,400) with drilling number 105, which is 400 mm to the right of the origin and at the same horizontal position, hole H (800,400) with drilling number 106, which is 400 mm to the right of the origin and 800 mm lower, hole H (400,600) with drilling number 107, which is 600 mm to the right of the origin and 400 mm lower, and hole H (-400,600) with drilling number 108, which is 600 mm to the right of the origin and 400 mm higher.

[0079] The drilling conditions sheet Sh1 (Sh) shown in Figure 13 corresponds to the drilling of Figure 12, and is a sheet on which the drilling conditions for the eight holes with drilling numbers 101 to 108 shown in Figure 12 are set. As shown in the figure, in this embodiment, the drilling conditions set in the drilling conditions sheet Sh1 are the drilling number, lifting / lowering setting value, movement setting value, drilling depth setting value (setting value for the drilling depth by the hammer drill 1), and no drilling (a check mark field to be filled in when a hole of the drilling depth cannot be drilled).

[0080] As shown in Figures 14 and 15, drilling condition sheets Sh2 and Sh3 (Sh) may be provided which set drilling conditions for holes at different drilling positions and numbers than those in the drilling condition sheet Sh1 shown in Figure 13, and these may be used depending on the area of ​​the structure S to be drilled and the position of the buried reinforcing bars, etc.

[0081] Furthermore, the drilling conditions are not limited to the conditions described above, and some of the above conditions may be omitted, or conditions other than those described above (for example, the drilling speed, a predetermined time for determining that drilling is in progress when the speed is less than the drilling speed, etc.) may be set. Furthermore, it goes without saying that the numerical values ​​for the number and positions of holes to be drilled can be freely set according to the structure S to be drilled. Furthermore, the drilling position may be set based on the distance from the hole drilled immediately before.

[0082] FIG. 16 shows a history file (1)F as an example of the results of drilling performed based on the drilling condition sheet Sh1 of this embodiment.

[0083] As shown in the figure, the history file (1) F displays the drilling start time, drilling time, drilling number, sheet number (the number of the drilling condition sheet Sh), elevation setting value, elevation completion value, movement setting value, movement completion value, measured distance to the drilling surface, drilling depth setting value, drilling depth completion value, and judgment. The "judgment" refers to whether or not a hole of the set drilling depth was drilled. If the hole was drilled successfully (OK), a "1" is displayed, and if the hole was not drilled (NG), a "2" is displayed. In the illustrated example, the drilling number 103 is displayed as "2." The display items in the history file F are not limited to these; some of these items may be missing, or items other than those described above may be displayed. In this embodiment, holes judged as "2" are displayed with a shading pattern to allow for easy identification at a glance. For ease of operator confirmation, it is desirable to distinguish between "1" and "2" by shading or color coding.

[0084] As shown in FIG. 16, if the judgment column of the history file (1)F indicates a "2," meaning that the hole could not be drilled to the set drilling depth, the drilling condition sheet Sh1 is updated and the hole is re-drilled. That is, as shown in the updated drilling condition sheet Shr1 in FIG. 17, a check mark is placed in the "No Drilling" column for drilling number 103. Since the "2" judgment is likely due to the hammer drill 1 interfering with rebar or the like during drilling, as described below, the vertical and horizontal lift settings are increased by 10 mm. As a result, the hole for drilling number 103 is reset to drill 10 mm lower and 10 mm to the right of the originally set position. The direction of the shift in the drilling position is not limited to this embodiment, and it may be shifted only vertically or horizontally. Furthermore, the amount of shift in the drilling position does not have to be 10 mm; for example, it may be 5 mm. In addition, the position and numerical value for shifting the drilling position may be determined automatically using AI (Artificial Intelligence).

[0085] When the updated drilling condition sheet Shr1 shown in Figure 17 is stored in the drilling condition memory unit PCm1, the control unit C reads it and re-drills only for drilling number 103, which has a check mark in the "No drilling" column. An example of the history file (2) F at this time is shown in Figure 18. As shown, all of the "Judgment" columns in the history file (2) F are "1," indicating that all holes were drilled to the set drilling depth. This completes the drilling. Note that if there are holes that could not be drilled to the set depth even after re-drilling, and the "Judgment" column in the history file (2) F is "2," updating of the drilling condition sheet Sh corresponding to the judgment "2" and drilling are repeated until all of the "Judgment" columns in the history file F are "1."

[0086] As mentioned above, the control unit C reads the drilling condition sheet Sh input (set) in the input / output unit PC and stored in the drilling condition sheet storage unit PCm1, and controls the driving of the drilling device A1 to drill holes in the vertical direction. It also controls the acquisition of drilling results based on the detection information from the drilling state detection unit SS and the transmission of these to the input / output unit PC.

[0087] Returning to FIG. 11, the control unit C controls the lift motor 13, which raises and lowers the lift table 14 on which the hammer drill 1 is mounted, the drill drive motor 1b, which drives the hammer drill 1, the air cylinder 1c, which moves the hammer drill 1 back and forth, the pneumatic operation unit 1d, which operates the power switch for the hammer drill 1, and the geared motor 28, which moves the drilling device A1. Once the drilling device A1 is installed in a predetermined location, the control unit C automatically executes drilling according to the settings in the drilling condition sheet Sh. The manual operation unit MU also controls the lift motor 13, the drill drive motor 1b, the air cylinder 1c, the pneumatic operation unit 1d, and the geared motor 28. Therefore, by operating the manual operation unit MU, the operator can drill a desired location, separate from the hole drilling performed by the control unit C.

[0088] The drilling state detection unit SS, which detects the drilling state of the drilling device A1, is made up of a lifting position detection unit SSa, which detects the lifting position of the hammer drill 1, a drilling surface distance detection unit SSb, which detects the distance between the drilling device A1 and the wall surface (drilling surface) of the hole to be drilled in the structure S (the distance between the drilling device A1 and the drilling surface based on the forward length of the hammer drill 1), a drilling depth detection unit SSc, which detects the depth of the hole that has been drilled (drilling depth), and a movement distance detection unit SSd, which detects the movement distance of the drilling device A1. As mentioned above, the movement distance of the drilling device A1 is detected by the number of pulses sent from the rotary encoder 31.

[0089] As described above, the drilling state of the drilling device A1 detected by the drilling state detection unit SS is transmitted to the control unit C. Then, the control unit C acquires (calculates) the results of drilling the structure S by the drilling device A1 from the various detection information transmitted from the drilling state detection unit SS, transmits this to the input / output unit PC, and stores it in the drilling result memory unit PCm2.

[0090] Here, in the control unit C of this embodiment, if it determines that the hammer drill 1 cannot drill a hole of the set drilling depth while drilling the structure S, it controls the drilling to be stopped and the next hole to be drilled.

[0091] That is, as shown in Figure 19, buried objects such as reinforcing bars B and pipes (hereinafter referred to as "reinforcing bars, etc.") are arranged inside the concrete structure S, so if the hammer drill 1 (more specifically, the bit 1a at the tip of the hammer drill 1) interferes with the reinforcing bars, etc. while drilling, it will be impossible to drill any further. Note that Figure 19 shows reinforcing bars B arranged horizontally, which is why the cross section is circular.

[0092] Therefore, in the control unit C, when the detection information sent from the drilling state detection unit SS shows that the stroke (advance length) of the hammer drill 1 does not reach a predetermined dimension (the "drilling depth setting value" set in the drilling condition sheet Sh), it determines that the hammer drill 1 has interfered with rebar or the like and is therefore unable to drill hole H to the drilling depth set in the drilling condition sheet Sh, stops drilling, pulls the hammer drill 1 out of the structure S, and drills the next hole. The drilling results of the multiple holes drilled in this way (the results of holes that were able to be drilled to the depth set in the drilling condition sheet Sh and holes that could not be drilled to the depth set in the drilling condition sheet Sh) are stored in the drilling result memory unit PCm2.

[0093] After the drilling is completed, the worker operates the input / output unit PC to update the drilling condition sheet Sh based on the drilling results (i.e., the most recent drilling results) stored in the drilling result memory unit PCm2, so that the drilling position is shifted and drilling is limited to holes that could not be drilled to the depth set in the drilling condition sheet Sh, and the updated sheet is stored in the drilling condition sheet memory unit PCm1.

[0094] Therefore, the next time, the updated drilling condition sheet Sh stored in the drilling condition sheet memory unit PCm1 will be read, and drilling will be performed only for holes that could not be drilled to the depth set in the drilling condition sheet Sh during the previous drilling.

[0095] In this embodiment, whether or not a hole of the set drilling depth can be drilled is determined based on the stroke of the hammer drill 1, but other factors may also be used for determination. For example, a detector may be provided that detects the pressing pressure (feed pressure) of the bit 1a attached to the hammer drill 1, and whether or not a hole of the set drilling depth can be drilled may be determined based on the pressing pressure detected by the detector. In other words, when the detected pressing pressure exceeds a predetermined pressure, it is determined that the hammer drill 1 is interfering with rebar or the like and therefore cannot drill a hole of the set drilling depth.

[0096] Next, the process of automatically drilling holes H (here, holes H for inserting shear reinforcement bars R) in a concrete structure S using the drilling system A having the above configuration will be explained using the flowchart in Figure 20. Here, under the setting conditions of the drilling condition sheet Sh1 shown in Figure 13, holes are drilled in the left column in Figure 12, and the drilling device A1 is moved to the next column while drilling up to the right column. Note that the drilling speed of the hammer drill 1, the time (predetermined time) for determining whether drilling is progressing or stagnating, etc. are set as default values.

[0097] First, the operator inputs the drilling conditions into the drilling conditions sheet Sh1 (step St01). In this embodiment, the necessary numerical values ​​displayed on the input screen are set. Then, once the numerical values ​​have been set, the drilling conditions sheet Sh1 is stored in the drilling conditions sheet storage unit PCm1 (step St02). In this embodiment, the data is stored by clicking the "Write" button (not shown) displayed on the input screen.

[0098] Next, the control unit C reads the drilling condition sheet Sh1 (i.e., drilling conditions such as the positions (lift setting values) and drilling depth of multiple holes to be drilled in the structure S) stored in the drilling condition sheet memory unit PCm1 (step St03).

[0099] Once the process from setting the values ​​in the drilling condition sheet Sh1 to reading them has been completed, the geared motor 28 is rotated to move the drilling device A1 along the guide rail 33 to set it at a predetermined position on the structure S, and the lifting motor 13 is rotated to move the hammer drill 1 to the initial drilling position (step St04). Next, the dust collector 37 is started to be driven (step St05). Note that the order of steps St04 and St05 may be reversed, and the installation of the drilling device A1 and the movement of the hammer drill 1 may be performed after the drive of the dust collector 37 has been started.

[0100] Once the hammer drill 1 has been moved to the initial drilling position in this way, from the next step St06, the control unit C that has read the drilling condition sheet Sh1 automatically executes the drilling operation.

[0101] First, before actually drilling a hole with the hammer drill 1, the distance between the hammer drill 1 and the drilling surface (the surface of the structure where the hole is to be drilled) is measured (step St06). That is, the hammer drill 1 advances while the rotation of the bit 1a is stopped, and if there is no advance for a certain period of time (i.e., if the advance of the hammer drill 1 stops), it is determined that the hammer drill 1 (more specifically, the tip of the bit 1a attached to the hammer drill 1) has come into contact with the drilling surface. Then, the extension amount of the hammer drill 1 at that advanced position is detected by the drilling surface distance detection unit SSb, and this is taken as the distance between the hammer drill 1 and the drilling surface. Note that in this embodiment, distance measurement is performed using a position sensor that detects the advance / retract position of the slide guide 2b, but the measurement method is not limited to this, and measurement may also be performed using a distance measuring device such as a laser rangefinder.

[0102] In the drilling system A of this embodiment, the distance between the hammer drill 1 and the drilling surface is measured for each drilling. This is because, prior to drilling, the surface of the structure S is cleaned with high water pressure, and during this process, the surface of the structure S peels off due to aging and other factors. Therefore, if the distance between the hammer drill 1 and the structure S (more specifically, the surface of the structure S) is measured only once and drilling is performed based on this value, holes will not be drilled to the specified drilling depth, reducing drilling accuracy. Furthermore, since it is difficult to lay the guide rail 22, which functions to guide the drilling device A1 when it travels, accurately parallel to the structure S, similarly, if drilling is performed based on the distance between the hammer drill 1 and the structure S measured only once, holes will not be drilled to the specified drilling depth, reducing drilling accuracy.

[0103] However, instead of measuring the distance between the hammer drill 1 and the drilling surface for each drilling operation as in this embodiment, detection may be performed by the drilling surface distance detection unit SSb after each multiple drilling operations or each movement of the drilling device A1 (i.e., before drilling the first hole in a row of drilling operations), and drilling may be performed based on the detection results. Alternatively, instead of the drilling surface distance detection unit SSb, a wall surface distance detection unit may be provided that detects the distance between the drilling device A1 and the wall surface of the structure S, and detection may be performed by the wall surface distance detection unit before the drilling device A1 starts drilling, and drilling may be performed based on the detection results.

[0104] After the distance between the hammer drill 1 and the drilled surface is measured in step St06, the hammer drill 1 starts to be driven (step St07).

[0105] Next, the hammer drill 1 is advanced to start drilling (step St08). That is, the air cylinder 1c slides the slider 2a along the slide guide 2b to advance the hammer drill 1, and the bit 1a at the tip of the hammer drill 1 is pressed against the drilling position in the structure S to start drilling.

[0106] Once drilling has started, it is determined whether the drilling speed is equal to or greater than a set value based on the change in the hole depth detected by the drilling depth detection unit SSc (step St09).

[0107] If it is determined in step St09 that the drilling speed is equal to or greater than the set value, drilling is proceeding smoothly, and drilling continues until the drilling depth detection unit SSc detects that the drilling depth has reached the set value set in the drilling condition sheet Sh1 (step St10). If it is determined in step St10 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 the drilling was successful) are stored in the drilling result storage unit PCm2 (step St11). Note that, when it is determined in step St10 and in step St14 described below that the drilling depth has reached the set value, the forward movement of the hammer drill 1 is stopped.

[0108] On the other hand, if it is determined in step St09 that the drilling speed is not greater than the set value, it is possible that the drilling speed is less than the set value due to some reason (for example, the hardness of the structure S), but that drilling is in the middle of reaching the set drilling depth. Therefore, the drilling time is measured (step St12), and it is determined whether the drilling depth has changed within the specified time (step St13).

[0109] Then, in step St13, if it is determined that the drilling depth has not changed within a specified time, it means that drilling has stalled because the bit 1a attached to the tip of the hammer drill 1 has hit a rebar or the like within the structure S, and the drilling is stopped, and the drilling results (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 St11).

[0110] Furthermore, if it is determined in step St13 that the drilling depth has changed within a predetermined time, it is determined whether the drilling depth detected by the drilling depth detection unit SSc has reached a set value (step St14), and if it is determined that the drilling depth has reached the set value, the drilling results (drilling execution values ​​such as the actual drilling position and drilling depth, and the determination result that the drilling was successful) are stored in the drilling result storage unit PCm2 (step St11).On the other hand, if it is determined in step St14 that the drilling depth has not reached the set value, the drilling is stopped, and the drilling results (drilling execution values ​​such as the actual drilling position and drilling depth, and the determination result that the drilling failed) are stored in the drilling result storage unit PCm2 (step St11).

[0111] Now, once the drilling results have been stored in the drilling result memory unit PCm2 in step St11, the hammer drill 1 is retracted (to the extent that the bit 1a at the tip of the hammer drill 1 is pulled out of the structure S) and the driving is stopped (step St15).

[0112] Next, it is determined whether the drilling of one vertical row of holes has been completed (step St16). If not, the lifting motor 13 is driven to move the hammer drill 1 to the next drilling position set in the drilling conditions sheet Sh1 (step St17), and the process proceeds to step St06 described above. The subsequent steps are then executed sequentially. When the hammer drill 1 is moved, the lifting position detection unit SSa moves the hammer drill 1 to the position set in the drilling conditions sheet Sh1.

[0113] If it is determined in step St16 that the drilling of one vertical row has been completed, it is determined whether the current drilling is the last hole in the drilling condition sheet Sh1 (step St18). If it is not the last hole in the drilling condition sheet Sh1, the geared motor 28 is driven, the movement distance detection unit SSd detects the drilling device A1, and the drilling device A1 is moved to the next row of holes (step St19). Then, the lift position detection unit SSa moves the hammer drill 1 to the drilling position (step St20), and the process proceeds to step St06 described above.

[0114] On the other hand, if it is determined in step St18 that the current drilling is the last drilling of the drilling condition sheet Sh1, the dust collector 37 is stopped (step St21), and a history file F is output (step St22), which is a list comparing the drilling condition sheet Sh1 stored in the drilling condition sheet storage unit PCm1 with the drilling results stored in the drilling result storage unit PCm2 in the above-mentioned step St11. The dust collector 37 may be stopped after it is determined in the next step St23 that there are no holes that do not meet the drilling conditions.

[0115] Next, it is determined from the output history file F whether there are any holes that do not meet the drilling conditions (holes judged as "drilling failure") (step St23). In this embodiment, the control unit C displays a judgment in the history file F based on the drilling condition sheet Sh1 stored in the drilling condition sheet memory unit PCm1 and the drilling results stored in the drilling result memory unit PCm2, but if there is no "judgment" item, the worker makes the judgment.

[0116] If step St23 determines that a hole does not meet the drilling conditions set in the drilling conditions sheet Sh1, the drilling conditions sheet Sh1 is updated based on the drilling results (step St24). In this embodiment, as described above, drilling failure for hole number 103 indicates a hole that does not meet the drilling conditions. Since the reason for the failure to drill a hole that met the drilling conditions is assumed to be that the bit 1a attached to the tip of the hammer drill 1 struck a rebar or other object within the structure S, the drilling position is shifted by a predetermined amount based on the position of the rebar or other object in the design drawings, etc., when updating the drilling conditions sheet Sh1. Here, as shown in FIG. 17, a check mark is placed in the "No drilling" column for drilling number 103, and the elevation setting value is increased by 10 mm to 410 mm, and the movement setting value is also increased by 10 mm to 210 mm. In this embodiment, the drilling conditions sheet Sh1 is updated manually, but as described above, it may also be updated automatically.

[0117] If the drilling condition sheet Sh1 is updated in step St24, the updated drilling condition sheet Shr1 is stored in the drilling condition sheet storage unit PCm1 (step St25). The control unit C then reads the updated drilling condition sheet Shr1 from the drilling condition sheet storage unit PCm1 (step St26). The drilling device A1 is then moved to a predetermined position so that the hammer drill 1 is located at the drilling position (the position of the hole to be re-drilled) for the updated drilling number 103, and the hammer drill 1 is raised and lowered to move to the drilling position (step St27), after which the process proceeds to step St05. If the dust collector 37 is not stopped in step St21 but is stopped after it is determined in step St23 that there are no holes that do not meet the drilling conditions, the process proceeds to step St06 once the hammer drill 1 has been moved to the drilling position in step St27.

[0118] Now, in step St23, if it is determined that there are no holes that do not meet the drilling conditions set in the drilling conditions sheet Sh1 (holes that were not drilled at the set position or depth), all drilling is considered to be complete and the process ends.

[0119] Thus, in this embodiment, under the control of the control unit C, a drilling condition sheet Sh is read, which sets drilling conditions including the drilling order, drilling positions, and drilling depth for multiple holes to be drilled in a vertical row in the concrete structure S. Based on the drilling condition sheet Sh, the hammer drill 1 is raised and lowered to drill a vertical row of holes. Then, the drilling device A1 is moved to the next drilling position and the hammer drill 1 is raised and lowered again to drill a vertical row of holes. Furthermore, for holes where the hammer drill 1 is unable to drill a hole with a depth that meets the drilling conditions, drilling is stopped and the next hole in the drilling order is drilled. If a hole cannot be drilled with a depth that meets the drilling conditions, that hole is re-drilled based on the updated drilling condition sheet Sh, with the drilling position shifted.

[0120] This makes it possible to automatically drill multiple holes in a concrete structure S according to the drilling conditions.

[0121] 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.

[0122] For example, in this embodiment, a drilling pattern (vertical priority drilling pattern) is set in which holes are drilled one row at a time in the vertical direction while the hammer drill 1 is raised and lowered by the lifter 10. However, the drilling pattern can be freely set other than this vertical priority drilling pattern. For example, the drilling pattern can be set in which, without raising and lowering the hammer drill 1, the drilling device A1 is moved along the structure S to first drill one horizontal row, and then the hammer drill is raised or lowered to drill the row above or below that in sequence (horizontal priority drilling pattern).

[0123] In addition, although the present embodiment uses a hammer drill 1 as the drilling machine, the present invention is not limited to this. For example, various drilling machines capable of drilling holes in a concrete structure S, such as a core drill that drills holes by rotating a rod with a cylindrical saw bit attached to the tip, can be used. [Industrial Applicability]

[0124] 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]

[0125] 1 Hammer drill (boring machine) 1a bit 1b Drill drive motor 1c Air cylinder 1d Pneumatic operation unit 2. Moving parts 2a Slider 2b Slide guide 10 Lifter 12 Lifting mast 13 Lifting motor 14 Lift table 20 chassis 22 Guide rail 24 Outrigger 26 Caster 27 Pinion gear 28 Geared motor (travel motor) 31 Rotary Encoder 32 Pinion gear 33 Guide rail 34 Rack Gear 35 Retaining roller 36 Air Compressor 37 Dust collector A Drilling System A1 Drilling equipment A2 Guidance means B Reinforcement C control section CP Compressor F History File, History File(1), History File(2) H hole MU manual operation section PC input / output section PCm1 Drilling condition sheet storage section PCm2 Drilling result storage section R shear reinforcement steel Sh, Sh1, Sh2, Sh3 Drilling Condition Sheet Shr1 Updated Drilling Sheet S structure SS Drilling status detection unit SSa lift position detector SSb Drilling surface distance detection unit SSc drilling depth detection unit SSd Movement distance detection unit

Claims

1. an input unit into which a drilling condition sheet is input to set drilling conditions including the drilling order, drilling positions, and drilling depths for a plurality of holes to be drilled in each vertical row or each horizontal row in a concrete structure; a drilling condition sheet storage unit for storing the drilling condition sheet input by the input unit; a drilling device in which a drilling machine for drilling holes in the structure is mounted so as to be movable vertically by an elevator motor, and is guided by a guide rail by a travel motor so as to be movable horizontally along the structure; a drilling state detection unit including a lifting position detection unit that detects the lifting position of the drilling machine, a drilling depth detection unit that detects the drilling depth by the drilling machine, and a movement distance detection unit that detects the movement distance of the drilling device; a control unit that reads the drilling condition sheet from the drilling condition sheet storage unit, and controls the drilling machine to drill holes sequentially while repeatedly raising and lowering the drilling machine using the lifting motor and moving the drilling device using the travel motor based on the drilling state detection unit, and for holes that the drilling state detection unit detects as being unable to drill a hole of a depth that conforms to the drilling conditions, stops drilling and controls the drilling of the next hole in the drilling sequence; a hole-drilling result storage unit for storing the hole-drilling results for each hole, including a determination of whether or not the hole was drilled to a depth that conforms to the set hole-drilling conditions; If it is determined from the drilling results stored in the drilling result storage unit that there is a hole that has not been drilled to the set drilling depth, the drilling condition sheet is updated and input to the input unit so that the drilling position for that hole is shifted by a predetermined dimension in at least one of the vertical and horizontal directions and drilling is limited to that hole, The control unit reads the updated drilling condition sheet input to the input unit and stored in the drilling condition sheet storage unit, and executes control to drive the drilling device and re-drill the hole using the drilling machine. A drilling system characterized by:

2. The drilling state detection unit further includes a drilling surface distance detection unit that detects the distance between the drilling device and the surface of the structure at the hole position to be drilled in the structure, The control unit controls the drilling by the drilling machine based on the detection result by the drilling surface distance detection unit for each one or more drilling operations by the drilling machine or each movement of the drilling device.

2. The drilling system according to claim 1.

3. The drilling state detection unit further includes a wall distance detection unit that detects the distance between the drilling device and the wall surface of the structure, The control unit controls the drilling by the drilling machine based on the detection result of the wall surface distance detection unit detected prior to the start of drilling of the drilling device.

2. The drilling system according to claim 1.

4. The input unit receives the updated drilling condition sheet so that the drilling position is shifted in at least one of the vertical and horizontal directions. A drilling system according to any one of claims 1 to 3.

5. The drilling state detection unit determines that the drilling machine cannot drill a hole that meets the drilling conditions when the drilling depth does not reach a set value within a predetermined time or when drilling stagnates. A drilling system according to any one of claims 1 to 4.

6. The drilling condition sheet is provided in a plurality of selectable positions. A drilling system according to any one of claims 1 to 5.

7. A drilling method for automatically drilling a plurality of holes in a concrete structure using a drilling device in which a drilling machine for drilling holes in the structure is movable vertically and horizontally along the structure, comprising: an input step of inputting a drilling condition sheet including the drilling order, drilling positions, and drilling depths for a plurality of holes to be drilled in each vertical row or each horizontal row in the structure; a drilling condition sheet reading step of reading the drilling condition sheet input in the input step; a drilling step in which the drilling machine sequentially drills holes while repeatedly raising and lowering the drilling machine and moving the drilling device based on the drilling condition sheet read in the drilling condition sheet reading step, and if the drilling machine cannot drill a hole to a depth that meets the drilling conditions, the drilling is stopped and the next hole in the drilling sequence is drilled; a drilling result storage step for storing the drilling results for each hole, including a determination of whether or not the hole was drilled to a depth that conforms to the set drilling conditions; In the input step, if it is determined from the drilling results stored in the drilling result storage step that a hole has not been drilled to a depth that conforms to the set drilling conditions, the drilling condition sheet is updated so that the drilling position of the hole is shifted by a predetermined distance in at least one of the vertical and horizontal directions and drilling is limited to the hole in question, and the updated drilling condition sheet is input; In the drilling step, the drilling device is driven based on the updated drilling condition sheet to re-drill holes using the drilling machine. A drilling method characterized by:

8. In the drilling process, the distance between the drilling device and the surface of the structure at the position of the hole to be drilled in the structure is detected for each or multiple drilling operations by the drilling machine, or for each movement of the drilling device, and then drilling is performed.

8. The method of claim 7.

9. In the drilling process, the drilling machine drills holes based on the detection result of the distance between the drilling device and the wall surface of the structure, which is detected prior to the start of drilling by the drilling device.

8. The method of claim 7.

10. In the input step, the updated drilling condition sheet is input so that the drilling position is shifted in at least one of the vertical and horizontal directions. The hole drilling method according to any one of claims 7 to 9.

11. In the drilling step, when the drilling depth does not reach a set value within a predetermined time or when drilling stagnates, drilling is stopped. The drilling method according to any one of claims 7 to 10.

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