JP2001096366A - Remote operation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a remote operation device which allows cutting off a cut piece through one-time remote grasping operation of the object, and also compatible of remote grasping with cutting operation through a single manipulator or a crane, thus resulting in high efficiency cutting operation. SOLUTION: This remote operation device is equipped with a grasping device to grasp the object, a transferring device to locate the grasping device into an arbitrary special position, a cutting tool, a positioning structure of the cutting tool which is set-up on the grasping device and relatively positions the cutting tool against the grasping device, a recovery unit which collects cut scraps or cut products and a positioning device for the recovery unit for relatively positioning the recovering device against the cutting tool, in which the positioning structure of the cutting tool has flexibility of cutting by switching the direction of cutting against the object continuously more than two directions.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote operation device for cutting and removing an object by remote operation, and more particularly to a remote operation device suitable for repair work and demolition work of a nuclear reactor.

[0002]

2. Description of the Related Art In a remote operation inside a reactor involving a cutting operation of a structure such as a repair operation inside a reactor, a dismantling operation of a reactor, etc., a cutting operation of a structure and a conveying operation of a subsequent cutting piece are alternately repeated. Perform work. As a conventional work method, a remote cutting tool is installed near a structure to perform cutting, the remote cutting tool is evacuated after cutting, the cut piece is gripped by a crane device, etc. The task of unloading was repeated. In this case, there is a problem in that the start work of the remote cutting tool, the evacuation work, the setup of the cutting, and the setup of the gripping / conveying work of the cut piece occur every time the cut piece is cut out, resulting in poor work efficiency.

As a countermeasure for this, there has been proposed an operation mode in which the gripping and fixing of the object and the cutting operation are performed in parallel, and the cutting operation and the cutting piece unloading operation are continuously performed. For example, JP-A-10-
In the publication No. 90493, a manipulator dedicated to cutting with a cutting tool in the furnace and a manipulator dedicated to carrying work equipped with a gripping device are put in, and the object is gripped and fixed by the manipulator dedicated to carrying work, and cut by the manipulator dedicated to carrying work. And a system in which the cut pieces are carried out to a predetermined accumulation area by a manipulator dedicated to a transfer operation after the cutting is completed. Further, for example, Japanese Patent Laid-Open No. 5-171822
Japanese Patent Application Publication No. JP-A-2005-115125 discloses a device in which a mechanism for gripping and fixing to an object is provided with a cutting tool, and cutting operation and cutting piece unloading operation are performed continuously.

[0004]

SUMMARY OF THE INVENTION The above-mentioned Japanese Patent Application Laid-Open No.
In the system disclosed in Japanese Patent No. 90493, the cutting tool and the gripping device are installed on separate manipulators. For this reason, it is difficult to manage the operation interference between the manipulators in system operation. Flexible work becomes difficult due to interference between the structure and the manipulator in the narrow environment inside the furnace. Further, for each of the plurality of manipulators, there is a problem that before the operation is started, a positioning setup operation of the cutting tool and the gripping device is required, and the operation efficiency is poor.

[0005] In the apparatus disclosed in the above-mentioned Japanese Patent Application Laid-Open No. 5-171822, the cutting tool has a structure in which cutting is performed in only one linear direction. In addition, a dedicated device is used for each of the vertical cutting and the circumferential cutting perpendicular to the vertical cutting. For this reason, in order to cut one cut piece, installation and removal of the device for vertical cutting and the device for circumferential cutting to the object are performed, and there is a problem that the working efficiency is poor.

Further, in the efficient remote cutting operation, it is required to reduce the time required for replacing the cutting tool whose performance has deteriorated during the cutting operation, and to reduce the exposure of the operator due to the replacing operation. In both prior arts, no consideration is given to highly efficient means of remotely changing cutting tools.

[0007] Further, in order to reduce the exposure during the operation and shorten the construction period of the remote cutting operation, the gas generated from the cutting tool during the cutting operation, the products such as cutting abrasive grains, and the cutting debris generated during the cutting operation are reduced. Although it is necessary to prevent diffusion and to collect and remove at the same time as cutting, both of the above prior arts do not take into account the means for remote collection of product and cutting waste.

SUMMARY OF THE INVENTION It is an object of the present invention to cut and separate a piece by a single remote gripping operation of an object, and to perform remote gripping by a single manipulator or crane device.
A remote cutting machine that is compatible with cutting work, allows remote replacement of cutting tools, and enables remote collection of products and cutting waste associated with cutting work. A working device is provided.

[0009]

SUMMARY OF THE INVENTION 1) An object of the present invention is to provide a gripping device for gripping an object, a moving device for positioning the gripping device at an arbitrary spatial position, a cutting tool for cutting the object, and a gripping device. A cutting tool positioning mechanism for positioning the cutting tool relative to the gripping device, the cutting tool positioning mechanism having a degree of freedom for cutting by switching the cutting direction with respect to the target object in two or more directions; A collecting device for collecting the product generated by the cutting or cutting chips generated by cutting, and a collecting device positioning device for positioning the collecting device on the back surface of the cut surface of the object facing the cutting tool, and collecting This is achieved by installing a device positioning device on the gripping device to constitute a remote working device.

2) An object of the present invention is to provide a gripping device for gripping an object, a moving device for positioning the gripping device at an arbitrary space position, two or more cutting tools for cutting the object, and a device installed on the gripping device. A cutting tool positioning mechanism that relatively moves the cutting tool in each different cutting direction with respect to the gripping device, and a collection device that collects a product generated by the cutting tool or a cutting waste generated by cutting, This is achieved by providing a collecting device positioning device for positioning the collecting device on the back surface of the cutting surface of the object facing the cutting tool, and installing the collecting device positioning device on the gripping device to constitute a remote working device. You.

[0013] 3) The object of the present invention is achieved in the above 1) and 2) by providing an attaching / detaching mechanism for disconnecting or connecting the gripping device and the moving device between them.

4) An object of the present invention is to provide a gripping device for gripping an object, a moving device for positioning the gripping device at an arbitrary space position, a cutting tool for cutting the object, and a gripping device installed on the gripping device. A cutting tool positioning mechanism for relatively positioning the cutting tool, wherein the cutting tool positioning mechanism has a degree of freedom for cutting by switching the cutting direction to the object in two or more directions, and a product generated by the cutting tool or A collecting device for collecting cutting waste generated by cutting,
A cutting device is provided with a collecting device positioning device for positioning the collecting device on the back surface of the cut surface of the object facing the device, and a means for fixing and installing the collecting device positioning device on the object independently of the gripping device is provided. And a first attachment / detachment mechanism for separating or connecting the two between the gripping device and the movement device, and a second attachment / detachment mechanism for separating or connecting the two between the collection device positioning device and the movement device. This is achieved by configuring the remote operation device such that the installation of the gripping device and the recovery device positioning device on the object is performed by a common moving device.

5) An object of the present invention is to provide a gripping device for gripping an object, a moving device for positioning the gripping device in an arbitrary space position, a cutting tool for cutting the object, and a gripping device installed on the gripping device. A cutting tool positioning mechanism for relatively positioning the cutting tool, wherein the cutting tool positioning mechanism has a degree of freedom for cutting by switching the cutting direction to the object in two or more directions, and a product generated by the cutting tool or A collecting device for collecting cutting chips generated by the cutting, a collecting tool positioning device for positioning the collecting device on the back surface of the cutting surface of the object facing the cutting tool is installed on the gripping device, and Collection device, comprising a second collection device positioning device for positioning the second collection device on the back surface of the cutting surface of the object facing the cutting tool,
A second collection device positioning device having means for fixedly installing the object on the object independently of the holding device, and a first attachment / detachment mechanism for disconnecting or connecting both between the holding device and the moving device, And a second attaching / detaching mechanism for disconnecting or connecting the collecting device positioning device and the moving device between the collecting device positioning device and the moving device, so that the installation of the gripping device and the collecting device positioning device for the target object is performed by a common moving device. This is achieved by configuring a working device.

6) The object of the present invention is achieved in the above 1), 4) and 5) by configuring the cutting tool positioning mechanism with an articulated manipulator having two or more degrees of freedom.

7) The object of the present invention is as described in 6) above,
This is achieved by providing the articulated manipulator with a degree of freedom configuration in a cylindrical coordinate system in which the rotation center is set on the gripping device.

8) The object of the present invention is to provide the above 1), 2),
In 4) and 5), this is achieved by providing sensing means for monitoring the relative position of the cutting tool with respect to the object on the gripping device or on the cutting tool.

9) An object of the present invention is to provide, in the above 1), 2) and 4), a sensing means for monitoring a cutting trace appearing on a back surface of a cutting surface of an object facing a cutting tool, on a gripping device or in a collecting device. This is achieved by providing it on a device.

10) The object of the present invention is to provide a sensing means for monitoring a cutting trace appearing on a back surface of a cutting surface of an object to which a cutting tool is facing, on the gripping device, the collecting device or the second device in the above 5). This is achieved by providing it on a collection device.

11) The object of the present invention is to provide, in the above 1), a gripping device having a structure for holding a plate with respect to a plate-shaped object, and along a cutting line formed by a cutting tool. This is achieved by configuring the recovery device positioning device with a second articulated manipulator having two or more degrees of freedom for moving the recovery device.

12) The object of the present invention is achieved in the above 11), wherein the second articulated manipulator has a degree of freedom in a cylindrical coordinate system in which a rotation center is set on a gripping device.

13) An object of the present invention is to provide a duct according to 2) above, further comprising a gripping device configured to hold the plate with respect to a plate-shaped object, and covering a cutting line formed by a cutting tool. This is achieved by providing a collecting device positioning device having a collecting device in a shape of a circle and having a degree of freedom to press the collecting device against the object from the gripping device.

14) The object of the present invention is to provide, in the above item 2), a gripping device having a structure for holding a plate with respect to a plate-shaped object, and along a cutting line formed by a cutting tool. This is achieved by providing a collecting device positioning device having a degree of freedom for moving the collecting device.

15) The object of the present invention is to provide the above 1) and 5).
In, for a target having a plurality of cylindrical pipes penetrating the plate-like structure, a gripping device having a lock mechanism that is inserted into the cylindrical pipe and generates a pressing force on the inner surface of the cylindrical pipe, and This is achieved by providing the recovery device positioning device as a shaft structure connected to the gripping device, and further including a recovery device having an umbrella-like structure that can penetrate the cylindrical tube.

16) The object of the present invention is to provide a plate-like structure having a plurality of cylindrical pipes penetrating the plate-like structure and having an already cut-out opening in the above 4). A back surface of a cut surface of an object to be inserted into an adjacent cylindrical tube and provided with a locking mechanism having a lock mechanism for generating a pressing force on the inner surface of the cylindrical tube, and a recovery device inserted through an opening and a cutting tool facing the same. This is achieved by providing a collecting device positioning device having a degree of freedom for positioning the collecting device.

17) An object of the present invention is to provide the above-mentioned 5), in which a plate-like structure is provided with a plurality of cylindrical pipes penetrating therethrough, and the object is inserted into the cylindrical pipe and presses against the inner surface of the cylindrical pipe. A second collection device comprising a fixing means having a locking mechanism to generate the second collection device having a shaft structure connected to the second collection device positioning device, and further having an umbrella-shaped structure capable of penetrating a cylindrical tube; This is achieved by providing a device.

18) The object of the present invention is that in the above 2), two or more saw-shaped cutting tools are provided as cutting tools,
Equipped with an individual cutting tool positioning mechanism corresponding to each of the saw-shaped cutting tools, each of the cutting tool positioning mechanisms is provided with a moving path independently provided on the outer peripheral portion of the gripping device corresponding to each of the saw-shaped cutting tools. And a separate feed mechanism for feeding each saw-shaped cutting tool along each movement trajectory to achieve a remote working device.

19) An object of the present invention is to provide a gripping device for gripping a cut piece in the above 2), wherein the cut piece fixing apparatus for gripping an uncut object and preventing the cut piece from falling down after cutting is completed. This is achieved by installing and configuring a remote working device.

20) The object of the present invention is to provide the above 1), 2),
In 4) and 5), as the cutting tool, a plasma cutting tool, a laser cutting tool, a gas cutting tool, a hot cutting type cutting tool such as an electric discharge machine, a water jet cutting tool, an abrasive water jet cutting tool,
This is achieved by configuring the remote working device using a non-thermal cutting type cutting tool such as a cutting type cutting tool, a grinding type cutting tool, and a saw type cutting tool.

21) The object of the present invention is to provide the above 1), 2),
In 4) and 5), this is achieved by configuring a remote working device using an articulated manipulator or a crane device as a moving device.

[0030]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS.

FIG. 1 is an overall configuration diagram of the present embodiment, and FIG. 2 is an explanatory diagram showing the operation of the present embodiment. 1 and 2
, The same component numbers are given to the same components.

The remote working device 1 includes a gripping device 3 for gripping the object 2, a moving device 4 composed of an articulated manipulator for moving the gripping device 3 to an arbitrary space position and positioning the object 3 with respect to the object 2. A detachable mechanism 5 for detaching or connecting the gripping device 3 and the moving device 4 by remote control, a cutting tool positioning mechanism 7 for positioning a cutting tool 6 for cutting the object 2 with respect to the object 2, and a cutting tool A collecting device positioning device 9 for positioning the collecting device 8 for sucking and collecting the gas generated by the gas 6, products such as abrasive grains, and cutting chips generated at the time of cutting with respect to the target object 2.

As the cutting tool 6, a plasma cutting tool,
A non-contact type cutting tool such as a laser cutting tool, a gas cutting tool, an electric discharge machine, a water jet cutting tool, an abrasive water jet cutting tool, etc. is used.

In such a configuration, the cutting operation is performed in the following procedure. First, the holding device 3 is moved by the moving device 4.
Is positioned at a predetermined gripping position of the object 2, and the gripping device 3
The object 2 is grasped and fixed. In this state, the cutting tool 6 is moved by the cutting tool positioning mechanism 7 installed in the gripping device 3 along the target cutting locus set around the gripping device 3 to perform a cutting operation. At the same time, the collection device 8 is positioned by the collection device positioning device 9 at the back surface position of the object 2 facing the tip position of the cutting tool 6,
The product and the cutting chips penetrating the object 2 are collected by suction.
After the completion of the cutting operation, the cutting tool 6 is moved to the retracted position by the cutting tool positioning mechanism 7, and while the cut object 2, that is, the cut piece is held by the holding device 3, a predetermined cutting operation is performed by the moving mechanism 4. After being transported to the piece stacking area and the cut pieces are lowered in the piece stacking area, the gripping device 3 is moved to a gripping position corresponding to the next cutting location of the object 2 and the above cutting and transporting operations are repeated.

The cutting efficiency of the cutting tool 6 is reduced due to wear and the like as the cutting operation progresses. In this case, the remote exchange work of the cutting tool 6 is carried out by tying the gripping device 3 with the gripping device 3 according to the device configuration and operation procedure shown in FIG. In the remote working environment, stands 12 and 13 for temporarily placing the gripping device 3 are provided.
Is installed. First, the gripping device 3 having the used cutting tool 6 was seated on the stand 13 by the moving mechanism 4, and the gripping device 3 was installed on the second coupling portion 11 installed on the gripping device 3 side of the attaching / detaching mechanism 5 and on the moving device 4 side. Disconnect from the first coupling unit 10. After that, the moving device 4 is moved to the upper part of the gripping device 3 which has been set on the stand 12 in advance, and the first connecting portion 10 and the second connecting portion 11 are joined to return to the cutting operation. The gripping device 3 left on the stand 13 is moved by a moving device 15 such as a crane device having the first coupling portion 14.
From the remote work area to the maintenance work area, the cutting tool 6
After the maintenance of the performance-reduced portion is performed, the mobile device 15 is again transported to the remote work area as the maintained gripping device 3 by the moving device 15. In this work, a crane device is used as the moving device 15 assuming work in a remote working environment inside the reactor or the like. For example, the moving device 4 is pulled out of the reactor and the gripping device 3 is replaced. Even in such a case, an embodiment in which the old and new gripping devices 3 are supplied and picked up using another manipulator as the moving device 15 is also possible, and a similar effect of reducing exposure can be expected. Further, the configuration in which the gripping device 3 can be attached and detached by remote operation allows not only the exchange of the cutting tool 6 but also the use of different types of gripping devices in a remote working environment.

Next, details of the device configuration around the gripping device 3 will be described with reference to FIGS. FIG. 3 is a side view around the gripping device 3 of the present embodiment, and FIG. 4 is a front view around the gripping device 3 of the present embodiment. 3 and 4, the same components as those in FIG. 1 are denoted by the same reference numerals.

The cutting tool positioning mechanism 7 is constituted by a cylindrical coordinate type manipulator having a center of rotation set on the gripping device 3. That is, the cutting tool positioning mechanism 7 includes the turning drive mechanism 16 installed on the gripping device 3, and the degree of freedom in the radial direction of the cylindrical coordinate system is configured by the radius drive mechanism 17 installed on the turning drive mechanism 16. In addition, an elevating drive mechanism 18 for moving the tip of the cutting tool 6 toward or away from the object 2 is provided at the tip of the radius drive mechanism 17. further,
The collecting device positioning device 9 is installed on the surface of the gripping device 3 opposite to the installation position of the cutting tool positioning mechanism 7, and the mechanism configuration is a cylindrical coordinate type manipulator like the cutting tool positioning mechanism 7. , A radius drive mechanism 22 and an elevating drive mechanism 23 for moving the tip of the collection device 8 closer to or farther from the object 2. A cable bundle 6a such as a power cable and a pressure pipe used for supplying and controlling the cutting power to the cutting tool 6 has a flexible configuration, passes from the cutting tool 6 through the fixed portion of the turning drive mechanism 16 and the inside of the gripping device 3, and Via the attachment / detachment mechanism 5,
Although not shown in the figure, on the moving device 4 or the moving device 4
Connected to a cutting power source device installed in an external environment that leads to Similarly, the collection device 8 has a suction tube 8a.
Is connected, the tube 8a passes from the collection device 8 through the fixed portion of the turning drive mechanism 21 and the inside of the gripping device 3, further passes through the attachment / detachment mechanism 5, and although not shown, the moving device 4
It is connected to a suction device installed in the external environment connected to the top or the moving device 4.

With such a configuration, the cutting work locus of the cutting tool 6 can be set with respect to an arbitrary cutting target line 2a surrounding the gripping device 3 on the surface of the object 2. further,
The retracting function of the radius drive mechanism 17 retreats the cutting tool positioning mechanism 7 to the retreat position 7a shown in FIG. 4 during a transport operation other than the cutting operation, and avoids collision with the surrounding environment.
Further, a sensor 19 for detecting a gap between the object 2 and the tip of the cutting tool 8 is provided in the vicinity of the tip of the cutting tool 6. , The cutting performance of the cutting tool 6 can be optimally maintained, and the cutting tool 6 can be positioned to follow an arbitrary curved surface of the target object 2. The fixed portion of the turning drive mechanism 16 which is directly connected to the gripping device 3 is provided with a TV camera 20 for work monitoring, and positions the cutting tool 6 with respect to the cutting target line 2a by remote visual confirmation.

On the other hand, the position of the collecting device 8 along the surface of the object 2 is controlled to keep the same position as the tip position of the cutting tool 6 at all times. This control can be achieved by independently using the cutting target trajectory information as the collection device positioning trajectory information when the cutting tool positioning mechanism 7 and the recovery device positioning device 9 drive mechanism are configured independently. In addition, when a mechanism configuration in which a drive mechanism of each degree of freedom of the cutting tool positioning mechanism 7 and the recovery apparatus positioning apparatus 9 is used in common is used, no special control is required, and the operation is linked to the operation of the cutting tool positioning mechanism 7. Thus, the positioning of the collection device 8 with respect to the cutting tool 6 can be realized. The collection device 8 has a flexible distal end, and moves in close contact with the back surface of the target object 2. The tip position of the collection device 8 with respect to the back surface of the target object 2 is kept constant as in the case of the cutting tool 6. When the thickness of the object 2 is substantially constant as in the example shown in FIG.
The result of the follow-up control on the front surface of the object 2 is reflected on the positioning control target of the lifting mechanism 23, and the follow-up control of the collection device 8 on the back surface of the object 2 is performed. In the case where the thickness of the object 2 is not uniform, although not shown in FIG. 7, a sensor similar to the sensor 19 is provided in the collection device 8, and the collection device for the back surface of the object 2 is provided based on the detection information. 8 is maintained constant.

The fixed portion of the turning drive mechanism 21 directly connected to the gripping device 3 is provided with a TV camera 24 for work monitoring.
The cutting trace penetrated by the cutting tool 6 along the target cutting line 2a is remotely and visually monitored to check whether there is any defect in the cutting operation.

Next, the structure and operation of the attachment / detachment mechanism 5 will be described with reference to FIG. 5, the same components as those in FIG. 1 are denoted by the same component numbers.

The first connecting portion 10 includes a base 25 connected to the moving device 4, a locking mechanism 27 having a claw 26, an alignment pin 28, a gripping device 3, a cutting tool positioning mechanism 7, a cutting tool 6, a collection tool. It comprises an electrical cable for power supply and control of the device positioning device, the recovery device 8, the recovery device positioning device 9, and the like, and a one-touch detachable connector 29 for connecting a pressure pipe. On the other hand, the second connecting portion 11 includes a base 30 connected to the gripping device 3 and a claw 26
, A positioning block 32 having an insertion hole for the alignment pin 28, and a receptacle (not shown) joined to the connector 29.

With this configuration, as shown in FIG.
When the first connecting portion 10 approaches the second connecting portion 11, the alignment pin 28 having a tapered tip is inserted into the positioning block 32 while the claw 26 passes through the gap between the stays 31. The position and orientation of the second joint 11 with respect to the first joint 10 are corrected to the joint position and orientation. Although not shown in detail, the stands 12 and 13
A predetermined rigidity is given to the seating state of the gripping device 3 with respect to the moving device 4 so that the positioning operation of the moving device 4 is given flexibility so that the above-described remote connection is smoothly performed.

Next, as shown in FIG. 5B, the pawl 26 is turned by the lock mechanism 27, and further, as shown in FIG. Then, the connection by the remote control of the first connection unit 10 and the second connection unit 11 is completed. As the lock mechanism 27, a hydraulic or pneumatically driven cylinder mechanism that generates a swiveling movement of the rod in accordance with the expansion and contraction stroke movement can be employed.

Next, the configuration and operation of the gripping device 3 will be described with reference to FIG. 6, the same components as those in FIG. 3 are denoted by the same component numbers.

The gripping device 3 includes a pressing cam 33 rotated by a cylinder 35 and a pressing cam 34 rotated by a similar configuration. When positioning the gripping device 3 on the target object 2, the cams 33 and 34 are drawn into the gripping device 3 as shown by broken lines in FIG.
The cams 33 and 34 are pressed against the object 2 and held by the thrust of the cylinder 35. With this configuration, when the object 2 is suspended in the vertical direction, the cams 33 and 34 protrude via the frictional force due to the own weight of the object 2 and generate an autonomous gripping force, thereby stably holding the heavy object 2. Can be gripped. Further, by gripping the cams 33 and 34 at two positions, the posture of the target object 2 can be stably held even when the posture of the gripping device 3 is horizontal.

According to the above-described embodiment, by performing the positioning installation operation of the gripping device with respect to the object once, the cutting is continuously performed with respect to an arbitrary cutting target line surrounding the gripping device. Can carry out cutting work of cut pieces,
Immediately thereafter, the work of transporting the cut pieces can be performed.
Furthermore, since the relative positioning of the cutting tool is performed with reference to the gripping device, the management of the cutting position can be performed simultaneously only by managing the installation position of the gripping device. Furthermore, an arbitrary curved surface can be cut by a configuration in which the tip of the cutting tool is controlled to follow the surface of the target object while maintaining a constant gap. Further, the remote replacement operation of the gripping device with the rotation of the repaired gripping device and the used gripping device in the remote working area makes it possible to reduce the period during which the remote cutting operation is stopped due to the replacement of the worn parts of the cutting tool, by the gripping device for the moving device. Can be reduced only to the time required for remote attachment / detachment. Furthermore, since the cutting tool and the collecting device can always be positioned at positions facing each other with the target object interposed therebetween, it is possible to efficiently suck and collect the generated products and cutting chips that penetrate and pass through the target object during cutting. This is particularly effective when an abrasive water jet cutting method that generates a large amount of abrasive grains at the time of cutting penetration is applied to a cutting tool.

In this embodiment, a cylindrical coordinate type manipulator is used as the cutting tool positioning mechanism. However, similar effects can be obtained by using a multi-joint type manipulator such as a scalar type. That is clear.

In this embodiment, the articulated manipulator is used as the moving device. However, it is obvious that the same effect can be obtained by using a crane device.

Next, another embodiment of the present invention will be described with reference to FIGS. 7 to 9, the same components are denoted by the same component numbers.

FIG. 7 is a side view and a front view of the present embodiment. The remote working device 36 of the present embodiment is intended for cutting a plate-shaped object 38 attached through a plurality of long cylindrical tubes 37.

The remote working device 36 includes a cutting device 40 for positioning the cutting tool 39 with respect to the object 38 and a collecting device 4.
A recovery device positioning device 42 for positioning the cutting device 1 at a back surface position of the object 38 facing the tip position of the cutting tool 39;
It comprises a moving device 4 for transporting, installing, and removing the cutting device 40 and the recovery device positioning device 42 to a remote working environment.

Cutting device 40 and recovery device positioning device 42
Are individually seated and fixed on the cylindrical tube 37. The upper ends of the cutting device 40 and the collecting device positioning device 42 can be separated and coupled to the moving device 4 via a detachable mechanism 43 by remote control.

The attachment / detachment mechanism 43 is connected to the first connection part 44 connected to the moving mechanism 4, the second connection part 45 connected to the upper end of the cutting device 40, and the upper end of the collection device positioning device 42. And the connection structure between the first connection portion 44 and the second connection portion 45 is the same as the connection structure between the first connection portion 44 and the second connection portion 46. The common moving mechanism 4 is used to sequentially install and remove the collecting device positioning device 42 and the cutting device 40 on the cylindrical tube 37.

The cutting operation procedure using the remote operation device 36 is as follows. First, the recovery device positioning device 42 is connected to the moving device 4, and the recovery device positioning device 42 is moved and seated on the cylindrical tube 37 adjacent to the opening 38a already opened in the object 38. Next, the collection device positioning device 42 is operated by remote control, and the collection device 41 is positioned at the back surface position of the object 38 facing the tip position of the cutting tool 39 by passing through the opening 38a.

Thereafter, as will be described in detail later, the collection device 41 is opened to prepare for the collection of products and cutting waste generated during the cutting operation. After the above operation, the moving device 4 and the collecting device positioning device 42 are separated, the moving device 4 and the cutting device 40 are connected, and the cutting device 40 is placed on the cylindrical tube 37 adjacent to the opening 38a and the collecting device positioning device 42. Move and sit down.

When the above preparations are completed, the cutting device 4
An object 38 around the cylindrical tube 37 on which the seat 0 is seated is cut by the cutting tool 39 around. After the cutting operation is completed, the cutting device 40 and the cut pieces of the object 38 fixed and gripped by the cutting device 40 are transported by the moving device 4 to a predetermined cut piece accumulation area, and the cut pieces are lowered in the cut piece accumulation area. Thereafter, the moving device 4 and the cutting device 40 are separated, and the moving device 4 and the collecting device positioning device 42 are re-coupled. Dispose of things. After that, it moves to the next cutting position of the object 38 and repeats the above-described installation, cutting, and conveying operations.

Next, the detailed configuration of the cutting device 40 will be described with reference to FIG. The cutting device 40 includes a gripping device 47 and a cutting tool positioning mechanism 48.

The gripping device 47 is inserted into the cylindrical tube 37, is seated on the upper surface of the cylindrical tube 37 by the flange 54, and
The cutting device 40 is fixedly mounted on the cylindrical tube 37 by pressing and gripping the inner wall surface of the 7 with the pad 53, and serves as a gripping means for the cut pieces when the cut pieces are carried out. Gripping device 47 and attachment / detachment device 43
Are connected by a mast 55, and the cutting tool positioning mechanism 48 operates using the mast 55 as a scaffold.

The cutting tool positioning mechanism 48 includes a mast 55
Is constituted by a cylindrical coordinate type manipulator in which the center of rotation is set to the center of rotation. That is, the cutting tool positioning mechanism 4
Reference numeral 8 denotes a turning drive mechanism 49 for orbiting the cutting tool 39 around the mast 55, a radius drive mechanism 50 for defining the degree of freedom in the radial direction of the cylindrical coordinate system, and a cutting tool 39 at the tip of the radius drive mechanism 50. An elevating drive mechanism 51 for moving the tip toward or away from the object 38 is provided. The turning drive mechanism 49 is fixedly installed on the mast 55, and is rotated and coupled to the mast 55 to turn the cylinder 56 on which the radial drive mechanism 50 is installed. The radius drive mechanism 50 is configured by a parallel link mechanism including links 57, 58, and 59. The linear drive guide 61 is configured to drive the links 57 and 58 by a motor 62 and a ball screw 63 mounted on a cylinder 56. By being driven by the block 60 moving upward, the cutting tool 39 and the elevation drive mechanism 51 are moved in the radial direction while keeping the height constant.

With such a configuration, it is possible to set a cutting work locus of the cutting tool 39 for cutting around the object 38 around the cylindrical tube 37 on which the cutting device 40 is seated. Further, similarly to the embodiment shown in FIG. 3, a sensor 52 for detecting a gap between the object 38 and the tip of the cutting tool 39 is provided near the tip of the cutting tool 39, and based on the detection result, By controlling the elevating mechanism 51 so that the gap is always constant, the cutting tool 39 is controlled.
The cutting performance can be maintained optimally, and the cutting tool 39 can be positioned to follow an arbitrary curved surface of the object 38.

Next, the structure and operation of the recovery device positioning device 42 will be described with reference to FIG. The collecting device positioning device 42 includes an opening 38a opened in the object 38 and a cylindrical tube 37b adjacent to the cylindrical tube 37a on which the cutting device 40 is seated.
Seated and installed. Collection device positioning device 42
With the collection device 41 closed, the peripheral shape is reduced, passes through the opening 38a, moves vertically, and horizontally moves to a position where the cutting target line 38b can be covered. Next, the collection device 41
In an open state to cover the entire U-shaped cutting target line 38b. Thereafter, each movable portion of the recovery device positioning device 42 is locked, and the moving device 4 is separated.

The collecting device positioning device 42 has a cylindrical tube 37
and a fixing device 64 which sits on the inner wall b and presses and fixes the inner wall surface of the cylindrical tube 37b with the pads 65 and 66. Fixing device 6
At the upper end of the fourth connecting part 46, a part of the second connecting part 46
Is installed. The positioning operation of the collection device 41
(1) A first beam 67 which is turned around a fixing device 64 by a turning drive mechanism 68, and a first beam 67 is turned by a second turning drive mechanism 70.
At the lower part of the scalar-type manipulator mechanism and the recovery device 41, which is composed of a second beam 69 that rotates at the distal end of the beam 67, and a lifting and lowering drive mechanism 71 that raises and lowers and rotates the recovery device 41 at the distal end of the second beam 69. This is carried out by the provided horizontal translation mechanism 73.

In order to pass through the opening 38a having the same shape as the already opened cutting target line 38b, the collecting device 41 is moved to the cutting position with the planar shape smaller than the opening 38a. In this state, it is necessary to extend the target line 38b so as to cover the range of the target cutting line 38b. For this reason, the collection device 41 uses the opening / closing mechanism 74 to
Is deformed from a closed C-shape to a closed U-shape. Collection device 41
A discharge mechanism 75 for discharging the collected and accumulated products and cutting chips is provided at the bottom of the.

According to the present embodiment described above, cutting of a plate-like object attached through a plurality of long cylindrical pipes, which is common to the internal structure of a nuclear reactor, is shown in FIG. Similarly to the above, by performing the positioning installation operation of the cutting device with respect to the object once, it is possible to continuously perform cutting and cut out a cut piece with respect to an arbitrary cutting target line surrounding the cutting device. Immediately thereafter, the work of transporting the cut pieces can be performed. Furthermore, since the relative positioning of the cutting tool is performed based on the cutting device, the cutting position can be managed simultaneously only by controlling the installation position of the cutting device. Furthermore, the hood of the collection device can be deployed just below the target cutting line by effectively utilizing the opening of the target formed in the course of the cutting process, and the generated product scatters through the target with the cutting. And cutting waste can be efficiently collected. Furthermore, the transport and installation work of the cutting device and the recovery device positioning device can be performed alternately by remotely attaching and detaching a common moving device in a remote work environment, thus developing efficient cutting work in a narrow remote work environment. In addition, the exposure of the worker can be reduced.

In this embodiment, the articulated manipulator is used as the moving device. However, it is obvious that the same effect can be obtained by using a crane device.

Next, another embodiment of the present invention will be described with reference to FIG. FIG. 10 is a side view of the present embodiment.

The remote working device 76 of this embodiment is intended for cutting a plate-like object 78 attached through a plurality of cylindrical pipes 77 each having an open lower end.

The remote working device 76 positions the cutting tool 79 with respect to the object 78, and collects the umbrella-shaped collecting device 80.
Cutting device 81 provided with a second collecting device 8 having an umbrella-like structure
2 and a moving device 4 for transporting, installing, and removing the cutting device 81 and the auxiliary collection device 83 to a remote work environment.

The cutting device 81 and the auxiliary collecting device 83 are individually seated and fixed on the cylindrical tube 77. Cutting device 8
The upper end portions of the first and auxiliary recovery devices 83 can be separated and coupled to the moving device 4 via a detachable mechanism 84 by remote control.

The attachment / detachment mechanism 84 is connected to the first connection part 85 connected to the moving mechanism 4, the second connection part 86 connected to the upper end of the cutting device 81, and the upper end of the auxiliary recovery device 83. The connection structure between the first connection portion 85 and the second connection portion 86 is configured by the first connection portion 85 and the second connection portion 86.
It has the same structure as the connection structure between the coupling portions 87,
Using the common moving mechanism 4, installation and removal on the cutting device 81, the auxiliary recovery device 83, and the cylindrical tube 77 are sequentially performed.

The cutting operation procedure using the remote operation device 76 is as follows. First, the auxiliary collecting device 8 is attached to the moving device 4.
3, the auxiliary collecting device 83 is moved onto the cylindrical tube 77a, and the second collecting device 82 is lowered while penetrating the inside of the cylindrical tube 77a in the closed state, and the auxiliary collecting device 83 is placed on the cylindrical tube 77a. Installation, the second collection device 82 is opened. Next, the moving device 4 is separated from the auxiliary collecting device 83 and connected to the cutting device 81, and the cutting device 81 is connected to the cylindrical tube 77.
b and moves the collecting device 80 in a closed state to the cylindrical tube 77.
(b) It descends while penetrating the inside, the cutting device 81 is installed on the cylindrical tube 77b, and the collecting device 80 is opened.

When the above preparations are completed, the cutting device 8
The object 78 around the cylindrical pipe 77b on which the seat 1 is seated is cut by the cutting tool 79 around the circumference. After the cutting operation is completed, the cutting device 81 and the object 78 fixed and held by the cutting device 81
The cut pieces are transported together by the moving device 4 to a predetermined cut piece accumulation area, and the cut pieces are lowered in the cut piece accumulation area.

Next, the cutting device 81 is transported by the moving device 4 to a predetermined cutting product accumulation area, and the cutting chips and products collected and accumulated in the collecting device 80 are discarded. Thereafter, the moving device 4 and the cutting device 81 are separated, and the moving device 4 and the auxiliary collecting device 83 are re-coupled. Discard. After that, it moves to the next cutting position of the object 78 and repeats the above-mentioned installation, cutting, and conveying operations.

Next, the detailed configuration of the cutting device 81 will be described. The cutting device 81 includes a holding device 88, a cutting tool positioning mechanism 89, and a collection device 80. The structures and functions of the holding device 88 and the cutting tool positioning mechanism 89 are the same as those of the holding device 47 and the cutting tool positioning mechanism 48 of the embodiment shown in FIG.

The collecting device 80 is installed directly below the holding device 88 via a shaft 90. The gripping device 88
A hood 91 made of a flexible body for securing and accumulating cutting chips and products, and a rib 92 radially attached to the hood 91
An opening / closing drive mechanism 93 that opens and closes in an umbrella shape.
At the bottom of the gripping device 88, a discharge mechanism 94 for discharging cutting chips and products accumulated inside the hood 91 is provided.

Next, the detailed structure of the auxiliary collecting device 83 will be described. The auxiliary collection device 83 includes a second collection device 82
And a fixing device 95.

The structure of the second collecting device 82 is the same as that of the collecting device 8
Same as 0. The fixing device 95, like the gripping device 88, sits on the cylindrical tube 77a and is fixed to the inner wall surface of the cylindrical tube 77a by the pressing force of the pad 96. At the upper end of the fixing device 95, a second coupling portion 87 is provided via a turning mechanism 97. However, as shown in the example of FIG.
When there is no offset between the fixing device 95 and the center position of the second connecting portion 87 for avoiding interference between the cutting device 81 and the cutting device 81, and when the hand of the moving device 4 has a degree of freedom of turning, the turning mechanism 97 is unnecessary. is there.

According to the present embodiment described above, the cutting of a plate-like object attached to a reactor internal structure through a plurality of cylindrical tubes whose lower end portions are open, as is often the case in FIG.
In the same manner as in the embodiment shown in FIG. 1, the positioning and installation operation of the cutting device with respect to the target object is performed once, so that cutting is continuously performed on an arbitrary cutting target line surrounding the cutting device and the cutting operation of the cut piece is performed. And immediately after that, the work of transporting the cut pieces can be performed.

Further, since the relative positioning of the cutting tool is performed based on the cutting device, the cutting position can be managed at the same time only by controlling the installation position of the cutting device. Further, since the collecting device and the second collecting device can be inserted and installed through the cylindrical tube, it is possible to completely collect and accumulate cutting chips and products over the entire cutting process. further,
With the collecting device and the second collecting device, the recoverable area is expanded, and a wide range of cutting can be performed.

Further, similarly to the embodiment shown in FIG. 8, the transport and installation work of the cutting device and the auxiliary recovery device can be alternately performed by remotely attaching and detaching a common moving device in a remote working environment. It is possible to develop efficient cutting work in a remote working environment and reduce the exposure of workers.

In this embodiment, the articulated manipulator is used as the moving device. However, it is apparent that the same effect can be obtained by using a crane device.

Further, in the present embodiment, the area for collecting cutting chips and products is expanded by the auxiliary collecting device, but a remote area is used for cutting a narrow area near the cylindrical tube 77b. Obviously, the working device can be constituted only by the cutting device to perform the cutting operation.

Next, another embodiment of the present invention will be described with reference to FIGS. 11 and 12,
The same components are denoted by the same component numbers.

FIG. 11 is a side view of the present embodiment, and FIG. 12 is a front view. The remote operation device 98 according to the present embodiment aims at cutting the plate-shaped object 99.

The remote operation device 98 includes a gripping device 100 for gripping the object 99, a moving device 101 including a crane device for moving the gripping device 100 to an arbitrary space position and positioning the object 99 with the gripping device 100, An attaching / detaching mechanism 102 for remotely separating or connecting the apparatus 100 and the moving apparatus 101, and a cutting tool positioning mechanism 105 for positioning two cutting tools 103 and 104 for cutting the object 99 with respect to the object 99; And a collection device 107 for sucking and collecting cutting chips from the back surface of the object 99 facing the cutting tools 103 and 104.

The cutting tools 103 and 104 use rotary saw blades 108 and 109 as cutting tools, and support the reaction force generated at the time of cutting. It has the same size as the region formed by 99b. The holding device 100 has clamps 110 and 111 along the periphery of the frame, and holds and holds the object 99. The gripping device 100 is provided with a cut piece fixing device 112, and by holding and fixing the uncut area of the object 99 with the clamps 113 and 114, the cut piece is prevented from falling down immediately after the end of cutting.

The cutting tool 103 includes a rotary saw blade 108.
And an arm 116 and an actuator 117 for pressing the saw blade 108 against the object 99. Cutting tool positioning mechanism 1
Reference numeral 05 denotes rails 118 and 119 installed on the vertical end surface of the gripping device 100, a rack gear 120, and a feed mechanism 121 that feeds the cutting tool 103 vertically while driving the rack gear 120 along the rails 118 and 119. Consists of The cutting tool 104 and the cutting tool positioning mechanism 106 are provided horizontally at the lower end of the frame of the gripping device 100, and have the same configuration as the cutting tool 103 and the cutting tool positioning mechanism 105.

The collecting device 107 has a duct structure that covers the target cutting lines 99a and 99b, and a portion in contact with the object 99 is a skirt 122 made of a flexible material.
In contact. In addition, the collection device 107 includes the holding device 10.
The structure is such that the pressing mechanism 123 set at 0 presses the object 99 at the time of cutting.

In this embodiment, after the holding device 100 is gripped and fixed to the object 99, the vertical cutting target line 9
9b and the cutting target line 99a in the horizontal direction
3 and 104 cut in parallel. As shown in FIG. 12, by forming an L-shaped cutting line connected to the vertical cutting line performed in the previous cutting, the cutting of the cut piece is completed with one gripping operation. Further, the cutting time can be reduced by the parallel operation of the cutting tools 103 and 104.

According to the present embodiment, similarly to the previous embodiment, it is possible to cut out and carry out the cut piece every one gripping operation. Furthermore, since a saw-shaped tool is used as the cutting means, there is little generation of products other than cutting waste due to cutting, and the generated cutting waste is suctioned and collected by a collection device, thereby reducing exposure to radiation and generating radioactive waste. Has the effect of reducing the Further, for the cutting of the object having the curved surface by selecting the diameter of the saw blade, complicated control such as the follow-up control of the cutting tool to the object surface presented in the previous embodiment is not required.

In this embodiment, a rotary saw blade is used as a cutting tool. However, the rotary saw blade may be a reciprocating type even if another rotary machining tool such as a grinding disk or a milling blade is used. Obviously, a similar effect can be obtained by taking the form of a saw blade.

In this embodiment, the crane device is applied as the moving device. However, it is obvious that the same effect can be obtained by using an articulated manipulator.

Next, another embodiment of the present invention will be described with reference to FIG. 13, the same components as those shown in FIGS. 11 and 12 are denoted by the same reference numerals.

FIG. 13 is a side view of an apparatus according to another embodiment of the present invention. The remote working device 124 of the present embodiment
The purpose is to cut the plate-shaped object 99.

In the remote working device 124, the structure and functions other than the collecting device are the same as those in the embodiment shown in FIG. In the remote working device 124, recovery devices 125 and 126 are provided corresponding to the cutting tool 103 for vertical cutting and the cutting tool 104 for horizontal cutting. The collection devices 125 and 126 have the same structure, and the suction ducts 127, 1
The cutting waste is collected while following the 28.

The configuration and operation of the recovery device 125 for vertical cutting will be described as an example. The collection device 125 includes a suction duct 127 provided with a skirt 129 made of a flexible body, and a pressing mechanism 13 for pressing the suction duct 127 against the object 99.
0 and a feed mechanism 134 that moves the pressing mechanism 130 along rails 131 and 132 laid in the gripping mechanism 100 in parallel with the moving direction of the cutting tool 103 by propulsion using the rack gear 133.

According to the present embodiment, compared with the embodiment shown in FIG. 11, the suction and collection of the cutting chips can be always concentrated near the cutting tool during cutting, so that the reliability of the suction and collection of the cutting chips is high. In addition, the size of the vacuum suction system required for suction recovery can be reduced.

As described above, when the embodiment of the present invention is applied to the dismantling operation of a nuclear reactor, a flexible and quick remote cutting operation can be realized inside a nuclear reactor having a narrow working environment due to internal structures. Furthermore, the work of changing the cutting tool and installing, transporting, and removing the cutting device and peripheral auxiliary devices inside the reactor can all be performed remotely under the shielded environment of the reactor, thereby reducing man-hours. In both cases, it is possible to reduce the exposure of the worker. Furthermore, in parallel with the cutting, it is possible to efficiently collect cutting chips and products generated by the cutting, thereby reducing the number of steps required for the operation of collecting the cutting chips and products after the cutting operation, and reducing the amount of cutting chips and products. It is possible to prevent the subsequent work from being disturbed by the residual and reduce the exposure of the worker.

[0100]

According to the present invention, the cutting operation and the subsequent unloading operation of the cut pieces can be carried out continuously by one manipulator or crane device without changing the setup.

[Brief description of the drawings]

FIG. 1 is an overall configuration diagram of an embodiment of the present invention.

FIG. 2 is an explanatory diagram showing the operation of the embodiment of the present invention.

FIG. 3 is a side view of the embodiment of the present invention.

FIG. 4 is a front view of the embodiment of the present invention.

FIG. 5 is an explanatory diagram showing the configuration and operation of a detachable mechanism according to the embodiment of the present invention.

FIG. 6 is an explanatory diagram showing the configuration and operation of the gripping device according to the embodiment of the present invention.

FIG. 7 is another overall configuration diagram of the present invention.

FIG. 8 is a side view of another embodiment of the present invention.

FIG. 9 is an explanatory diagram showing the configuration and operation of a collection device according to another embodiment of the present invention.

FIG. 10 is another overall configuration diagram of the present invention.

FIG. 11 is a side view of another embodiment of the present invention.

FIG. 12 is a side view of another embodiment of the present invention.

FIG. 13 is a sectional view of an apparatus according to another embodiment of the present invention.

[Explanation of symbols]

1, 36, 76, 98, 124 ... remote working device, 2, 38, 78, 99 ... target object, 3, 47, 88, 100 ... gripping device, 4, 15, 101 ... moving device, 5, 43, 84 , 102: attachment / detachment mechanism, 6, 39, 79, 103, 104: cutting tool, 7, 48, 89, 105, 106: cutting tool positioning mechanism, 8, 41, 80, 107, 125, 126: collection device, 1 , 42: Retrieving device positioning device 10, 14, 44, 85 ... First joint, 11, 45, 46, 86, 87 ... Second joint, 12, 13 ... Stand, 16, 21, 49 ... Swivel drive Mechanisms 17, 20, 50: Radius drive mechanism, 18, 23, 51: Lift drive mechanism, 19, 52: Sensor, 20, 24: TV camera, 25, 30: Base, 26: Claw, 27: Lock mechanism, 28 ... Ara 29, connector, 31, stay, 32, positioning block, 33, 34, cam, 35, cylinder, 37, 77, cylindrical tube, 40, 81, cutting device, 53, 65, 66, 96, pad, 54 ... Flange, 55 ... Mast, 56 ... Cylinder, 57, 58, 59 ... Link, 60 ... Block, 61 ... Linear guide, 62,115 ... Motor, 63 ... Ball screw, 64,95 ... Fixing device, 67 ... First Beam, 68: First turning drive mechanism, 69: Second beam, 70: Second turning drive mechanism, 71: Elevating turning drive mechanism, 72, 91: Hood, 73: Horizontal / linear motion mechanism, 74: Opening / closing mechanism, 75 94, a discharge mechanism, 82, a second recovery device, 83, an auxiliary recovery device, 90, a shaft, 92, a rib, 93, an opening / closing drive mechanism, 97, a turning mechanism, 108, 09 ... saw blade, 110, 111, 113, 114 ... clamp, 112 ... cut piece fixing device, 116 ... arm, 117 ... actuator, 118, 119, 131, 132 ... rail, 120, 133 ... rack gear, 121, 134 ... Feeding mechanism, 122, 129 ... skirt, 123, 130 ... pressing mechanism, 127, 128 ... suction duct.

Continued on the front page (51) Int.Cl. ⁷ Identification code FI Theme coat II (Reference) G21F 9/30 535 G21F 9/30 535E 535B F term (Reference) 3C007 DS01 ES04 ET03 EU18 EW00 GS03 GS11 GS12 NS09 3F061 AA01 BA04 BB03 BD03 BF00 DA03 DA11 DA13 DB04 4E082 EA04 EF30 GA01

Claims (21)

[Claims] 1. A remote working device for cutting an object by remote operation, a gripping device for gripping the object, a moving device for positioning the gripping device at an arbitrary space position, and cutting the object. A cutting tool, a cutting tool positioning mechanism installed on the gripping device and configured to position the cutting tool relative to the gripping device, wherein the cutting tool positioning mechanism switches the cutting direction with respect to the target object in two or more directions for cutting. A collection device having a degree of freedom for collecting debris generated by cutting, and a collection device positioning device for positioning the collection device on the back surface of the cut surface of the object facing the cutting tool. A remote working device comprising: a collecting device positioning device provided on the holding device. 2. A remote working device for cutting an object by remote operation, a gripping device for gripping the object, a moving device for positioning the gripping device at an arbitrary space position, and cutting the object. Two or more cutting tools, a cutting tool positioning mechanism installed on the gripping device and configured to move the cutting tool relative to the gripping device in different cutting directions with respect to the gripping device; And a collecting device positioning device for positioning the collecting device on the back surface of the cut surface of the object facing the cutting tool, and the collecting device positioning device is installed on the gripping device. A remote working device characterized by the above-mentioned. 3. The remote working device according to claim 1, further comprising an attachment / detachment mechanism for disconnecting or connecting the holding device and the moving device. 4. A remote working device for cutting an object by remote operation, a gripping device for gripping the object, a moving device for positioning the gripping device at an arbitrary space position, and cutting the object. A cutting tool, a cutting tool positioning mechanism installed on the gripping device and configured to position the cutting tool relative to the gripping device, wherein the cutting tool positioning mechanism switches the cutting direction with respect to the target object in two or more directions for cutting. A collection device having a degree of freedom for collecting debris generated by cutting, and a collection device positioning device for positioning the collection device on the back surface of the cut surface of the object facing the cutting tool. Having a means for fixedly installing the recovery device positioning device on the object independently of the gripping device, and having both of them between the gripping device and the moving device. A first attaching / detaching mechanism for detaching or connecting, and a second attaching / detaching mechanism for disconnecting or connecting the collecting device positioning device and the moving device between the collecting device positioning device and the moving device; A remote working device, wherein installation of a device positioning device is performed by a common moving device. 5. A remote working device for cutting an object by remote operation, a gripping device for gripping the object, a moving device for positioning the gripping device at an arbitrary space position, and cutting the object. A cutting tool, a cutting tool positioning mechanism installed on the gripping device and configured to position the cutting tool relative to the gripping device, wherein the cutting tool positioning mechanism switches the cutting direction with respect to the target object in two or more directions for cutting. And a collecting device for collecting the debris generated by cutting, and positioning the collecting device for positioning the collecting device on the back surface of the cut surface of the object facing the cutting tool. A device for installing the device on the gripping device, a second collection device, and a cutting tool for positioning the second collection device on the back surface of the cut surface of the object facing the cutting tool. And a means for fixedly installing the second recovery device positioning device on the object independently of the gripping device, between the gripping device and the moving device. A first attachment / detachment mechanism for separating or connecting the two, a second attachment / detachment mechanism for separating or connecting the two between the collection device positioning device and the moving device, and the gripping device for the object and A remote working device, wherein installation of the recovery device positioning device is performed by a common moving device. 6. The remote working device according to claim 1, wherein said cutting tool positioning mechanism is constituted by an articulated manipulator having two or more degrees of freedom. 7. The remote working device according to claim 6, wherein the articulated manipulator has a degree of freedom in a cylindrical coordinate system in which a center of rotation is set on the gripping device. 8. The apparatus according to claim 1, wherein sensing means for monitoring a relative position of the cutting tool with respect to the object is provided on the gripping device or on the cutting tool.
The remote working device according to 2, 4, and 5. 9. The apparatus according to claim 1, wherein sensing means for monitoring a cutting trace appearing on a back surface of a cutting surface of the object facing the cutting tool is provided on the gripping device or the collecting device. 5. The remote working device according to claim 2, 2 or 4. 10. A sensing means for monitoring a cutting mark appearing on a back surface of a cutting surface of the object facing the cutting tool, the sensing means being provided on the gripping device, the collecting device or the second device.
6. The remote working device according to claim 5, wherein the remote working device is provided on a collecting device. 11. The apparatus according to claim 1, further comprising a gripping device configured to hold the plate with respect to the plate-shaped object, and moving the collection device along a cutting line formed by the cutting tool. 2. The remote working device according to claim 1, wherein the recovery device positioning device is configured by a second articulated manipulator having a degree of not less than two degrees. 12. The second articulated manipulator, wherein:
12. The remote working device according to claim 11, wherein a degree of freedom of a cylindrical coordinate system in which a rotation center is set on the gripping device is configured. 13. The apparatus according to claim 13, further comprising: the gripping device configured to sandwich the plate with respect to the plate-shaped object; and the duct-shaped collection device that covers a cutting line formed by the cutting tool. 3. The remote working device according to claim 2, further comprising the collecting device positioning device having a degree of freedom to press the collecting device against the object from the gripping device. 14. The apparatus according to claim 14, further comprising: a gripping device configured to hold the plate with respect to the plate-shaped object, and to move the collection device along a cutting line formed by the cutting tool. 3. The remote working device according to claim 2, further comprising the recovery device positioning device having a degree. 15. An object having a plurality of cylindrical tubes penetrating the plate-like structure, said object being inserted into said cylindrical tubes,
And a gripping device provided with a lock mechanism for generating a pressing force on the inner surface of the cylindrical tube, and the collection device positioning device is a shaft structure connected to the gripping device, and can further penetrate the cylindrical tube. The said collection | recovery apparatus which has an umbrella-like structure was provided.
The remote working device as described. 16. The object having a plate-shaped structure having a plurality of cylindrical tubes penetrating therethrough and having an already cut-out opening is inserted into the cylindrical tube adjacent to the opening and the gripping device. And the fixing means provided with a lock mechanism for generating a pressing force on the inner surface of the cylindrical tube, and the collection device is inserted from the opening and the cutting tool is disposed on the back surface of the cut surface of the object facing the cutting tool. The remote working device according to claim 4, further comprising the collection device positioning device having a degree of freedom for positioning the collection device. 17. An object, comprising a plurality of cylindrical tubes penetrating a plate-like structure, being inserted into the cylindrical tubes,
And the fixing means provided with a lock mechanism for generating a pressing force on the inner surface of the cylindrical tube, and the second recovery device positioning device is a shaft structure connected to the fixing means, and further the cylindrical tube The remote working device according to claim 5, further comprising the second collection device having an umbrella-like structure that can penetrate. 18. A cutting tool comprising two or more saw-shaped cutting tools, each cutting tool positioning mechanism corresponding to each of the saw-shaped cutting tools, wherein each of the cutting tool positioning mechanisms is provided. A moving path independently provided on an outer peripheral portion of the gripping device corresponding to each of the saw-shaped cutting tools, and a separate feed mechanism for feeding each of the saw-shaped cutting tools along each of the moving paths. The remote operation device according to claim 2, wherein the remote operation device is configured. 19. A cutting piece fixing device for holding the cut piece and preventing the cut piece from falling down after the cutting is completed is installed on the holding device for holding the cut piece. 3. The remote working device according to 2. 20. As the cutting tool, a plasma cutting tool, a laser cutting tool, a gas cutting tool, a heat cutting type cutting tool such as an electric discharge machine or a water jet cutting tool, an abrasive water jet cutting tool, a cutting type cutting tool. A non-thermal cutting type cutting tool, such as a grinding type cutting tool, a saw type cutting tool, or the like, is used.
6. The remote working device according to claim 5. 21. The remote working device according to claim 1, wherein an articulated manipulator or a crane is used as said moving device.