JP2009133058A - System and working device for removing asbestos-containing building material - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To prevent an environment around a job site from being polluted, for example, by the dust of an asbestos-containing building material, and to prevent the secondary pollution of the marginal environment when waste, used equipment, etc. are moved from the job site. <P>SOLUTION: A work space, a work preparation room, a storage device and a removal work device are put into the state of isolation from the outside through a preparation step, a carry-in step, a removal work step and a carry-out step so as to prevent the dust etc., generated by work for removing the asbestos-containing building material from being scattered outward from the work space, the work preparation room, the storage device and the removal work device. This can prevent the environment around the job site from being polluted, for example, by the dust of the asbestos-containing building material, and can prevent the secondary pollution of the marginal environment when the removal work device as the used equipment is moved from the job site. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  TECHNICAL FIELD The present invention relates to a technique for an asbestos-containing building material removal system and an asbestos-containing building material removal work apparatus.

  Asbestos-containing building materials such as asbestos-containing spray materials, heat insulating materials, and fireproof covering materials have been produced until recently, and have been used in many buildings during high-growth periods. In recent years, there has been a concern about the health problems that dust and the like scattered from such asbestos-containing building materials have on users of the building, which has become a serious social problem. In addition, when removing existing asbestos-containing building materials, there is a concern that dust of asbestos-containing building materials may be scattered around the work site and contaminate the surrounding environment. For this reason, it is a social urgent task to remove existing asbestos-containing building materials that have been used in buildings while preventing contamination of the surrounding environment.

Conventionally, an apparatus for removing an existing asbestos-containing building material that has been used in a building has been developed. According to such a device, the building containing asbestos-containing building materials is covered with a tent, etc., and asbestos-containing building material dust generated during removal work is scattered around the work site and contaminates the surrounding environment. (For example, refer to Patent Document 1).
Registered Utility Model No. 3116813

  However, according to the conventional asbestos-containing building material removal work apparatus, when the equipment used in the removal work is moved from the work site, the asbestos-containing building material dust and the like are scattered from the work site and contaminate the surrounding environment. There is a risk of secondary contamination. In addition, the removal work relies on the manual work performed by the site worker entering the work space, and there is a risk that health hazards may occur in the site worker due to dust from asbestos-containing building materials generated during the removal work. .

  The present invention has been made in view of the above problems, and prevents dust and the like of asbestos-containing building materials from contaminating the surrounding environment of the work site, and surroundings when moving waste or equipment used from the work site. The purpose is to prevent secondary pollution of the environment, and to reduce the chances of field workers entering the work space, thereby preventing health problems for field workers.

  The problems to be solved by the present invention are as described above. Next, means for solving the problems will be described.

That is, in the invention according to claim 1, asbestos-containing building material removal system for removing asbestos-containing building materials on the ceiling, wall surface, etc. of a building,
A preparation process for communicating the work space containing the asbestos-containing building material and the work preparation room, and isolating the work space and the work preparation room from the outside,
A storage device for storing the removal work device in a state of being isolated from the outside is communicated with the work preparation chamber, and the work space, the work preparation chamber, and the storage device are isolated from the outside, and the storage device is separated from the storage device. A carrying-in step of moving the removal working device to the working space;
A removal work step of removing asbestos-containing building materials in the work space by the removal work device,
After the removal work process is completed, the work space, the work preparation chamber, and the storage device are communicated and separated from the outside, and the removal work device is moved from the work space to the storage device, An unloading step of detaching the storage device from the work preparation chamber and unloading the removal working device from the outside;
It was set as the removal system of the asbestos containing building materials characterized by including.

  According to a second aspect of the present invention, in the first aspect of the present invention, the removal work device executes all or part of the removal work process by remote control or a teaching program from outside the work space. Asbestos-containing building material removal system.

  In the invention according to claim 3, in the invention according to any one of claims 1 to 2, in the removal work step, a range of work objects to be removed is subdivided into unit work ranges, The removal system for asbestos-containing building materials is characterized by performing the removal work of asbestos-containing building materials in the range to be worked by sequentially repeating the removal operations in the unit work range.

  According to a fourth aspect of the present invention, in the invention according to any one of the first to third aspects, the removal work device is provided with a dustproof jacket, and the atmospheric pressure in the dustproof jacket is set to work. The asbestos-containing building material removal system is characterized in that it is maintained at a higher pressure than the space, and the dustproof jacket is removed and discarded from the removal work device in a state of being isolated from the outside after the removal work process.

  The invention according to claim 5 is the asbestos according to any one of claims 1 or 4, wherein the internal pressure of the work space, the work preparation chamber and the storage device is kept at a lower pressure than the outside. It was set as the removal system of contained building materials.

  According to a sixth aspect of the present invention, in the first or fifth aspect of the present invention, the ionized gas is discharged into the work space, and the asbestos-containing building material dust or the like is neutralized. The asbestos-containing building material removal system was characterized by this.

  The invention according to claim 7 is the dust collection member according to any one of claims 1 or 6, wherein the dust or the like of the asbestos-containing building material floating in the work space is charged to the positive electrode or the negative electrode. The asbestos-containing building material removal system is characterized in that is charged to a different polarity.

In the invention according to claim 8, a moving means for moving in the work space, a fixing means for temporarily fixing in the work space, and a platform provided with a robot having an articulated arm to be described later Elevating means, and a cart in which each means is operated by remote control or teaching program;
A plurality of tools used for each operation or removal target included in the removal operation process;
A robot having a multi-joint arm that performs each operation included in the removal operation process and replacement of the tool performed at the end of each operation by remote operation or a teaching program;
The approach to the work object by the moving means of the carriage, the execution of each work included in the removal work process, the replacement of the tool performed between each work, and the movement to the next work object in order The asbestos-containing building material removal work device was characterized by being repeated.

  The invention described in claim 9 is the asbestos-containing building material removal work apparatus provided with means for confirming the work environment, work situation and work position image in the invention of claim 8.

  According to a tenth aspect of the present invention, in the invention according to any one of the eighth to ninth aspects, the range of the work object to be removed is subdivided into unit work ranges, which are operated by remote operation or a teaching program. It operates to perform removal work in each unit work range, and repeatedly perform the removal work in each unit work range to perform removal work of asbestos-containing building materials in the work target range. The asbestos-containing building material was removed.

In the invention according to claim 11, in the invention according to any one of claims 8 to 10, the work reference point of each unit work range, which is a subdivision of the range of work objects to be removed, Detecting means for detecting an inclination of the unit work range;
Storage means for storing a teaching program that starts the removal work in the unit work range from a work reference point, executes according to the inclination, and sequentially executes the removal work in each unit work range;
With
The asbestos-containing building material removal work apparatus is characterized in that the work reference point and the inclination of the teaching / program are corrected to the detected work reference point and the inclination based on the detection signal of the detection means.

In invention of Claim 12, in the invention of any one of Claims 8-11, the position reference point is set in the work space containing the asbestos-containing building material, and the position information of the work object to be removed A data storage unit for storing the coordinate information from the position reference point;
Detecting means for detecting position information of the removal work device,
When the position information of the removal work device by the detecting means is lost due to slipping of the carriage, the position information is reset by returning to the position reference point by remote operation or teaching program. The asbestos-containing building material removal work device was characterized.

  According to a thirteenth aspect of the invention, in the invention according to any one of the eighth to twelfth aspects, the robot having the articulated arm is detachable from a carriage base, and the robot having the articulated arm is The asbestos-containing building material removal work apparatus is characterized in that it can be mounted on a traveling carriage that can be used even in high places.

  As effects of the present invention, the following effects can be obtained.

  According to the first aspect of the present invention, the asbestos is separated from the outside through the preparation process, the carrying-in process, the removing work process, and the carrying-out process. It is possible to prevent dust or the like generated by the removal work of the contained building material from being scattered outside from the work space, the work preparation room, the storage device, and the removal work device. Therefore, it is possible to prevent the dust of asbestos-containing building materials from contaminating the surrounding environment of the work site, and to prevent secondary contamination of the surrounding environment when the removal work device, which is the equipment used, is moved from the work site. . In addition, since the removal work process is performed by the removal work device, the opportunity for the field worker to enter the work space can be reduced, and health problems of the field worker can be prevented.

  According to the second aspect of the present invention, since the removal work device executes all or part of the removal work process by remote operation or a teaching program from outside the work space, Work is reduced. For this reason, the opportunity for a field worker to enter the work space can be reduced, and health problems of the field worker can be prevented.

  According to the invention described in claim 3, even if the work target has a complicated shape, it is a set of unit work ranges by subdividing the work target range to be removed and dividing it into unit work ranges. Can be considered. By removing the operation of the removal work to be performed in the unit work range in advance and repeating this operation for each unit work range in advance, even if the work target has a complicated shape, it is easy to repeat the operation of the simple removal work. Can be done. Even if the removal work device is executed by remote operation or a teaching program, the removal work can be performed by a simple remote operation or a simple teaching program.

  According to the fourth aspect of the present invention, since the air pressure in the dustproof jacket mounted on the removal work device is maintained at a higher pressure than the work space, dust of asbestos-containing building materials enter the dustproof jacket. It is difficult, and it becomes difficult for dust etc. to adhere to a removal work apparatus. This facilitates cleaning of dust and the like after completion of the removal work process, and facilitates preventing secondary contamination of the surrounding environment when the removal work device is moved from the work site.

  According to the invention described in claim 5, in order to keep the internal pressure of the work space, the work preparation room and the storage device at a lower pressure than the outside, it is difficult for the dust of the asbestos-containing building materials to be emitted to the outside, thereby preventing contamination of the surrounding environment. can do.

  According to the sixth aspect of the present invention, by removing the charged dust and the like that are floating, the dust is likely to sink and the floating time can be shortened. For this reason, it becomes easy to remove dust and the like from the work space, contamination of the surrounding environment due to scattering of dust and the like can be prevented, and the period required for removing asbestos-containing building materials can be shortened.

  According to the seventh aspect of the present invention, since floating dust can be collected using Coulomb force, it becomes easy to remove dust from the work space, and the dust is scattered. It is possible to prevent the surrounding environment from being contaminated, and to shorten the period required to remove the asbestos-containing building material.

  According to the eighth aspect of the present invention, since the removal work process is performed by the removal work device operated by remote operation or teaching program, the opportunity for the field worker to enter the work space can be reduced. Health disorder can be prevented.

  According to the invention described in claim 9, since the operator can execute the removal work device by remote operation or teaching / program while confirming the image of the work environment, work situation and work position, the removal work device. The removal work by can be performed reliably.

  According to the invention described in claim 10, even if the work target has a complicated shape, it is a set of unit work ranges by subdividing the work target range to be removed and dividing it into unit work ranges. Can be considered. Even if the operation of the removal work to be performed in the unit work range by remote operation or teaching program is determined in advance and this operation is sequentially repeated for each unit work range, even if the planar shape is a complicated work target, It can be easily performed by repeating the operation of a simple removal operation.

  According to the eleventh aspect of the present invention, the removal work in the unit work range is started from the work reference point by the teaching program and executed according to the inclination, and the removal work in each unit work range is sequentially repeated. Can be executed. In addition, the removal work in each unit work range can be sequentially repeated while correcting the teaching program according to the work reference point detected by the detection means and the inclination of the work range. Therefore, even a three-dimensionally complicated work target can be easily performed by repeating a simple removal operation.

  According to the twelfth aspect of the present invention, even if the position information of the removal work device by the detecting means is lost due to slipping of the carriage, the carriage returns to the position reference point by remote operation or teaching program. Since the position information is reset, it is possible to prevent the removal work from being continued or stopped while the position information of the removal work device is lost, and the work to perform the removal work stored in the data storage unit It is possible to quickly return to the removal operation using the target position information. The position reference point may be two or more. For example, by using two position reference points, it becomes easier to match the position information and the position reference point in the data storage unit, and the removal work apparatus can quickly obtain the position information.

  According to the invention described in claim 13, even if the asbestos-containing building material provided at a high place that cannot be reached by raising and lowering the platform provided on the carriage, a robot having an articulated arm on another carriage is provided. By attaching, removal work at a high place can be performed. Further, it is economical because it is not necessary to prepare a robot having a plurality of articulated arms according to the height of the work target.

  Next, embodiments of the invention will be described with reference to the drawings.

  The asbestos-containing building material removal system according to Example 1 of the present invention will be described with reference to the drawings. FIG. 1 is a schematic diagram of a removal system for asbestos-containing building materials according to Embodiment 1 of the present invention, and FIG. 2 is a work space 11, a work preparation chamber 12, a container 13 as a storage device, and a removal work device according to Embodiment 1. FIG. 3 is a schematic perspective view of the asbestos-containing building material removal work device 21 according to Example 1 of the present invention, FIG. 4 is a schematic view of a tool, and FIG. FIG. 6 is a schematic diagram of the state where the removal work device 21 is moved below the unit work range 17. In this example, it is assumed that the work is performed in a relatively large public facility such as a school or a gymnasium as a building, but the asbestos-containing building material according to the present invention can be used even in a house, apartment, factory, etc. A removal system can be applied.

(Preparation process)
As shown in FIG. 1, the preparation process is a process in which the work space 11 including the asbestos-containing building material 16 and the work preparation chamber 12 are communicated, and the work space 11 and the work preparation chamber 12 are isolated from the outside. As shown in FIG. 2, the interior of the work space 11 is strictly cured with a curing sheet such as a vinyl sheet to isolate the work space 11 from the outside. The work space 11 is sucked with a dust remover (not shown) or the like so as to be maintained at a pressure lower than the atmospheric pressure. Further, a passage 14 for communicating with the work preparation chamber 12 described later is provided separately.

  As shown in FIG. 1, a work preparation chamber 12 is communicated with the outside of the work space 11. As shown in FIG. 2, for example, a room adjacent to the work space 11 is used as the work preparation room 12. The entire work preparation room 12 is carefully cured with a curing sheet such as a vinyl sheet to isolate the work preparation room 12 from the outside. When there is no adjacent room and the work preparation room 12 cannot be used, the work preparation room 12 is configured by dividing the work space 11 with a vinyl sheet or the like. A passage 14 provided in the work space 11 is communicated with the work preparation chamber 12, and the passage 14 is partitioned by a door or the like so that the work space 11 and the work preparation chamber 12 can be isolated from each other. The work preparation chamber 12 is sucked with a dust remover (not shown) or the like so as to be maintained at a pressure lower than the atmospheric pressure. Further, the work preparation chamber 12 is provided with a separate passage 15 for communicating with a container 13 as a storage device described later.

(Import process)
Next, as shown in FIG. 1, the carry-in step is a step of moving the postscript removing work device 21 stored in the storage device to the work space 11. Although the removal work device 21 will be described in detail later, a carriage 22 for moving in the work space 11, a plurality of tools used for the removal work of the asbestos-containing building material 16, and an articulated arm that performs the removal work of the asbestos-containing building material 16 And a robot 41 having As shown in FIG. 2, the storage device is a container 13 sealed so as not to disperse the internal dust to the outside, and stores the removal work device 21 in a state of being isolated from the outside. The inside of the container 13 is sucked with a dust removing device (not shown) or the like so as to be maintained at a pressure lower than the atmospheric pressure. When the removal work device 21 is stored separately from the outside, the container 13 is sealed and dust is not diffused to the outside, so the inside of the container 13 may be the same as the atmospheric pressure. In addition, the container 15 is communicated with a passage 15 provided in the work preparation chamber 12, and the passage 15 is partitioned by a door or the like so that the work preparation chamber 12 and the container 13 can be isolated from each other.

  As shown in FIG. 2, a disposable dustproof jacket 44 is attached to the removal work device 21 in the work preparation chamber 12 before entering the work space 11. The dustproof jacket 44 prevents dust generated during the removal operation of the asbestos-containing building material 16 from adhering to the removal work device 21. By keeping the internal pressure of the dustproof jacket 44 higher than the external air pressure, it is possible to prevent dust from entering the jacket and to make it difficult for dust or the like to adhere to the removal work device 21. For this reason, cleaning of dust etc. after the completion of the removal operation process is facilitated. In addition, you may make it keep the internal space of the removal operation | work apparatus 21 higher than external pressure. In this case, dust or the like can be prevented from entering the removal work device 21.

  As shown in FIG. 2, in this state, the work space 11, the work preparation chamber 12, and the container 13 communicate with each other, and the work space 11, the work preparation chamber 12, and the container 13 are isolated from the outside. It is in the state. The removal work device 21 is moved from the container 13 to the work space 11 through the work preparation chamber 12. The removal device can be self-propelled, but if there is a step, it is moved using lifting means or the like. After the removal working device 21 is carried into the work space 11, the passage 14 between the work space 11 and the work preparation chamber 12 is closed so that the work space 11 is isolated from the outside. The removal work device 21 is connected to power peripheral devices such as electricity and aerodynamic power and control lines.

(Removal work process)
Next, as shown in FIG. 1, the removal work process is a process of removing the asbestos-containing building material 16 by the removal work device 21 carried into the work space 11. The removal work process includes a removal work process 1, a removal work process 2 (peeling work), and a removal work process 3 (finishing work). Detailed contents of the removal work device 21 and the removal work process will be described later.

(Unloading process)
Next, as shown in FIG. 1, the carry-out process is a process in which the removal work device 21 is moved from the work space 11 to the container 13 and the removal work device 21 is carried out after the removal work step is completed. The work space 11, the work preparation chamber 12, and the container 13 are communicated with each other to be isolated from the outside, the removal work device 21 is cleaned, and the removal work device 21 is transferred from the work space 11 to the container 13. Move. At this time, power peripheral devices such as electricity and aerodynamic power of the removal work device 21 and control lines are also removed. The removal work device 21 is cleaned by applying an air flow (air shower) to the removal work device 21 in the work space 11 to remove dust and the like adhering to the dustproof jacket 44. After removing dust or the like, the removal work device 21 is moved to the work preparation chamber 12. In the work preparation room 12, the dustproof jacket 44 is removed, and the dustproof jacket 44 is discarded in a disposal container. Since the removal work device 21 is equipped with the dustproof jacket 44, the amount of dust and the like attached to the removal work device 21 is extremely small. Further, since the dustproof jacket 44 is removed in the work preparation chamber 12 and thrown into a disposal container for disposal, the amount of dust brought into the container 13 from the work preparation chamber 12 is extremely small. Thereby, it becomes easy to prevent secondary contamination of the surrounding environment when the removal work device 21 is moved from the work site. And the said removal operation apparatus 21 is carried out from a building in the state isolated from the exterior.

  According to the asbestos-containing building material removal system, the work space 11, the work preparation chamber 12, the container 13, and the removal work device 21 are isolated from the outside through the preparation process, the carry-in process, the removal work process, and the carry-out process. Therefore, it is possible to prevent dust generated by the removal work of the asbestos-containing building material 16 from being scattered from the work space 11, the work preparation room 12, the container 13 and the removal work device 21 to the outside. Therefore, dust of asbestos-containing building materials 16 is prevented from contaminating the surrounding environment of the work site, and secondary contamination of the surrounding environment when the removal work device 21 that is the equipment used is moved from the work site is prevented. Can do.

  Moreover, according to the said asbestos containing building material removal system, since a removal work process is performed by the removal work apparatus 21, the opportunity for a field worker to enter the work space 11 can be reduced, and the health hazard of a field worker is prevented. be able to.

  Further, by keeping the internal pressure of the work space 11, the work preparation chamber 12 and the container 13 at a lower pressure than the outside, the dust of the asbestos-containing building material 16 is hardly diffused to the outside, and contamination of the surrounding environment can be prevented.

  Next, the removal work device 21 according to the present invention will be described. The removal work device 21 includes a carriage 22 and a robot 41 having a tool and an articulated arm.

  The carriage 22 includes moving means for moving in the work space 11, fixing means for temporarily fixing in the work space 11, and elevating means for raising and lowering the pedestal 23. The moving means is for moving the removal working device 21 on the floor surface of the work space 11. As shown in FIG. 3, the wheel 25 that supports the carriage 22, and the wheel 25 is driven to drive the carriage 22. And a drive device (not shown) for moving the. It is preferable that the moving means can travel even if the removed pieces of the asbestos-containing building material 16 are scattered on the floor surface.

  The fixing means temporarily fixes the removal work device 21 at an arbitrary point on the floor surface in the work space 11, and the position of the removal work device 21 is caused by a reaction when the tool is pressed against the ceiling or the like during the removal work. This is to prevent deviation. As shown in FIG. 3, the fixing means is composed of an anchor jack 26 that is extendable downward from the carriage 22, and during fixing, the anchor jack 26 is pressed against the floor surface to temporarily fix the position of the removal work device 21. To do.

  The elevating means elevates and lowers a gantry 23 for fixing a robot 41 having an articulated arm, which will be described later. As shown in FIG. 3, a pedestal 23 is attached to a guide rail 24 erected on the carriage 22 so as to be vertically movable, and the pedestal 23 is moved up and down with respect to the carriage 22 between the pedestal 23 and the carriage 22. A lifting device (not shown) is provided to raise and lower the pedestal 23 to position the robot 41 having an articulated arm at an appropriate height with respect to the asbestos-containing building material 16 that is a work target. Here, the moving means, the fixing means, and the elevating means are configured to be operated by remote operation, but the moving means, the fixing means, and the elevating means may be configured to be operated by a teaching program. .

  The tool is attached to a tool attachment portion 42 provided at the distal end portion of a robot 41 having an articulated arm, which will be described in detail later, and is included in the removal operation step by being pressed against the asbestos-containing building material 16 that is a work target. It is for doing work. As shown in FIG. 4, each tool is provided with a tool plate 32 corresponding to a master plate 43 described later provided in a robot 41 having an articulated arm. A plurality of tools are prepared for each work included in the removal work process or for each removal object. The work surface detection tool 33, the wetting agent spray tool 34, the peeling tool 35, the finishing tool 36, and the solidifying agent spray tool. 37 etc. Each tool is placed side by side on a tool stand (not shown) provided below the robot 41 having an articulated arm.

  Here, the work surface detection tool 33 is a tool for detecting the height of a work target such as a ceiling. The work surface detection tool 33 detects contact with a work target such as a ceiling and detects the height of the ceiling or the like at that time.

  The wetting agent spray tool 34 is a tool for injecting a wetting agent onto a work target. Before the peeling work, a wetting agent is sprayed onto the work object to wet it, and dust is prevented from scattering when the asbestos-containing building material 16 is peeled off. A wetting agent supply hose (not shown) is connected to the wetting agent spray tool 34, and the wetting agent supply hose is connected to a tank 27 a provided in the carriage 22 and an applicator (not shown). Yes.

  The peeling tool 35 is a tool for peeling the asbestos-containing building material 16 from the ground surface. The peeling tool 35 is composed of a spatula-like member 35a and an air-type vibration device 35b. As shown in FIG. 4, the spatula-like member 35a is placed between the asbestos-containing building material 16 and the ground surface, and the air-type vibration is applied. The asbestos-containing building material 16 is peeled from the ground surface by vibrating the spatula-like member 35a back and forth with the device 35b.

  The finishing tool 36 is a tool for removing the asbestos-containing building material 16 with the peeling tool 35 and then polishing and peeling the asbestos-containing building material 16 remaining on the removal surface. As shown in FIG. 4, the finishing tool 36 has a structure in which a large number of wires 36b are implanted around the rotating portion 36a, and a dust collection suction for sucking dust generated by polishing is provided near the rotating wire 36b. A mouth (not shown) is provided. A suction hose is connected to the dust collection suction port, and the suction hose is connected to a dust collector provided in the carriage 22. It should be noted that it is preferable to prepare a plurality of finishing tools 36 so that an appropriate size can be selected according to the partial shape to be removed.

  The solidifying agent spray tool 37 is a tool for injecting a solidifying agent onto a work target. After the work by the finishing tool 36, the solidifying agent is sprayed onto the work object, and the dust of the asbestos-containing building material 16 remaining in the work object is contained. A solidifying agent supply hose (not shown) is connected to the solidifying agent spray tool 37, and the solidifying agent supply hose is connected to a tank 27 b provided in the carriage 22 and a coating machine (not shown). Yes.

  Next, the robot 41 having the multi-joint arm performs each operation included in the removal operation process performed by attaching the tool and replacement of the tool performed at the end of each operation by remote operation or a teaching program. It is something to execute. As shown in FIG. 3, the robot 41 having the articulated arm is a six-axis robot and is provided on a vertically movable base 23 provided on the carriage 22. A tool attachment portion 42 is provided at the tip of the robot 41 having a multi-joint arm, and a master plate 43 for attaching the tool is provided at the other end portion of the tool attachment portion 42. When the robot 41 having the articulated arm is operated, the tool can be directed to the work target at a desired position and angle within a predetermined range.

  As described above, the tool attachment portion 42 is provided at the tip of the robot 41 having an articulated arm, and is a portion to which a tool for removing the asbestos-containing building material 16 is detachably attached. As shown in FIG. 4, as a tool attaching / detaching means, a master plate 43 is provided in the tool mounting portion 42, and a tool plate 32 corresponding to the master plate 43 is provided in each tool. A fitting portion having a pneumatic locking mechanism is formed on the master plate 43 side, and a fitted portion into which the fitting portion is fitted is formed on the tool plate 32 side. The fitting portion of the master plate 43 and the fitted portion of the tool plate 32 are fitted, and a pneumatic locking mechanism is activated to attach the tool to the tool mounting portion 42 of the robot 41 having an articulated arm. When the tool is detached at the time of exchanging the tool, by releasing the lock mechanism, the fitting portion and the fitted portion are separated, and the tool is detached from the tool mounting portion 42.

  The robot 41 having the articulated arm can automatically change a tool according to each operation included in the removal operation process or a shape to be removed by a program. Note that the tool may be automatically exchanged by a program when each operation included in the removal operation process is completed.

  As shown in FIG. 3, a camera 51 is provided near the tip of the articulated arm. The camera 51 is installed so as to be able to monitor information necessary for the movement of the removal work device 21, the raising / lowering of the pedestal 23, the operation of the robot 41 having the articulated arm, and the working environment and work situation photographed by the camera 51. In addition, an image of the work position can be confirmed on the monitor 55. In addition, a stationary camera 52 is installed at the work site, and information regarding the removal work device 21 can be monitored also by the stationary camera 52.

  As shown in FIG. 3, the carriage 22 is provided with a robot 41 having an articulated arm and a control device 53 for controlling the moving means of the carriage 22 and the like. The control device 53 is connected to a control panel 54 for remotely operating the removal work device 21. On the control operation panel 54, operations for operating the moving means, fixing means, elevating means, robot 41 having an articulated arm, spray tool 34 for wetting agent, spray tool 37 for solidifying agent, camera 51, etc. Is provided. Information from the camera 51 provided in the vicinity of the tip of the robot 41 having the articulated arm and the stationary camera 52 placed in the work site is displayed on a monitor 55 installed in the vicinity of the operation control panel 54 while watching this. The operation is performed with the operation control panel 54. In this way, the operator can operate the removal work device 21 by remote operation while checking the image of the work environment, the work situation, and the work position, so that the removal work by the removal work device 21 can be reliably performed. it can. Note that wireless communication means may be used as means for remote control.

  In addition, since the removal work process is performed by the removal work device 21 that is operated by remote operation as described above, the opportunity for the field worker to enter the work space 11 can be reduced, and the field worker generates a health disorder. Can be prevented.

  Next, the content of the removal work process which removes the asbestos-containing building material 16 provided in the building using the removal work device 21 will be described.

  In the removal work step 1, as shown in FIGS. 1 and 5, the range of the work target to be removed is subdivided and divided into unit work ranges 17, 17. By dividing the work target to be removed into the unit work range 17, even a work target having a complicated shape can be regarded as a set of simple unit work ranges 17 and the removal work is facilitated. . For example, as shown in FIG. 5, even if there is an uneven portion such as a beam on the ceiling that is the work target, a sudden surface change portion (for example, a side surface of the beam) is included in a unit work range 17. If the unit work range 17 is set so as not to exist, the ceiling surface can be regarded as a set of simple planes. If the operation of the removal work performed by the removal work device 21 in the unit work range 17 is determined in advance, by repeating this operation sequentially for each unit work range 17, even if the work target has a complicated shape, It can be easily performed by repeating the operation of a simple removal operation. Even if the removal work device 21 is executed by a remote operation or a teaching / program, the removal work can be performed by a simple remote operation or a simple teaching / program.

  As shown in FIG. 5, the marking 18 in the present embodiment is, for example, a lattice-shaped marking having a side of 60 cm on the ceiling to be worked so as not to include a sudden surface change portion in the unit work range 17. 18 is performed. The marking 18 is for the operator to visually recognize the unit work range 17 on the monitor 55 in the removal work process, and the dimensions of the grid can be arbitrarily changed. When the work target has a complicated shape, the removal work is facilitated by shortening the length of one side of the lattice. As a means for marking 18, for example, marking 18 is performed by drawing a line with spray paint or the like on asbestos-containing building material 16 to be worked.

  In the removal work process 2, the removal work device 21 is moved below the unit work range 17 as shown in FIGS. 1 and 6. The anchor jack 26 is operated by remote control to temporarily fix the removal work device 21 below the unit work range 17. Next, the tool selects the work surface detection tool 33 and detects the height of the work object such as the ceiling. The work surface detection tool 33 detects the contact with a work target such as a ceiling and detects the height of the unit work range 17. The detected height is set as a reference height for the peeling work in the unit work range 17.

  Next, as shown in FIG. 1, the tool is changed to the spray tool 34 for the wetting agent, and the wetting agent is injected into the unit working range 17. By spraying a wetting agent before the peeling operation to wet the asbestos-containing building material 16, it is possible to suppress dust scattering when the asbestos-containing building material 16 is peeled off. It is preferable that spraying of the wetting agent by the spray tool 34 is performed evenly throughout. Accordingly, the wetting agent can be easily sprayed evenly by teaching and programming the operation of the robot 41 having the articulated arm so that the spray tool 34 is reciprocated while shifting the position little by little on the unit work range 17. can do.

  Next, as shown in FIG. 1, the tool is replaced with a peeling tool 35. The asbestos-containing building material 16 is peeled off from the ground surface by the peeling tool 35. The peeling tool 35 applies the spatula-like member 35a between the asbestos-containing building material 16 and the ground surface, and advances the robot 41 having an articulated arm while vibrating the spatula-like member 35a by the air vibration device 35b. The asbestos-containing building material 16 is peeled off. The entire unit work range 17 is peeled uniformly, and the asbestos-containing building material 16 in the unit work range 17 is peeled off. For example, if the operation of the robot 41 having the articulated arm is taught and programmed in advance so that the position is gradually shifted in parallel while moving the peeling tool 35 back and forth, the peeling work can be easily performed without unevenness.

  As shown in FIG. 1, when the removal work process 2 (peeling work) of the next unit work range 17 is performed after the removal work process 2 (peeling work) of the unit work range 17 is completed, the anchor jack 26 is operated. The temporary fixing is released and the removal work device 21 is moved to the next unit work range 17 so that the removal work process 2 (peeling work) is performed from the beginning. Next, the case where the removal work process 3 (finishing work) is started will be described assuming that the removal work process 2 (peeling work) is completed.

  As shown in FIG. 1, when starting the removal work process 3, first, the removal work device 21 is moved below the unit work range 17. The anchor jack 26 is operated by remote control to temporarily fix the removal work device 21 below the unit work range 17. Next, the tool selects the work surface detection tool 33 and detects the height of the work object such as the ceiling. The detected height is set as a reference height for finishing work in the unit work range 17.

  Next, the tool is replaced with a finishing tool 36 as shown in FIG. After the asbestos-containing building material 16 is removed by the peeling tool 35 with the finishing tool 36, the asbestos-containing building material 16 remaining on the removal surface is polished and peeled off. The finishing tool 36 has a structure in which a large number of wires 36b are implanted around the rotating portion 36a. The asbestos-containing building material 16 is polished and peeled by bringing the rotating wire 36b into contact with the removal surface. It is preferable that the removal surface is polished and peeled by the finishing tool 36 uniformly. Therefore, the operation of the robot 41 having the articulated arm is taught and programmed in advance so that the finishing tool 36 is reciprocated while shifting the position little by little on the unit work range 17, thereby easily polishing and peeling without unevenness. be able to. Further, the work with the finishing tool 36 is performed while sucking dust or the like from a dust collection suction port provided in the vicinity of the wire 36b, so that the amount of dust or the like that diverges into the work space 11 can be suppressed. When a plurality of finishing tools 36 are prepared in accordance with the partial shape to be removed, an appropriate size is selected in accordance with the removal target.

  Next, as shown in FIG. 1, the tool is replaced with a solidifying agent spray tool 37, and the solidifying agent is injected into the unit work range 17. After polishing and peeling by the finishing tool 36, a solidifying agent is sprayed onto the work target to contain the dust of the asbestos-containing building material 16 remaining on the work target. It is preferable that the solidifying agent is sprayed uniformly by the spray tool 37. Therefore, the solidifying agent can be easily sprayed evenly by teaching and programming the operation of the robot 41 having the articulated arm so that the spray tool 37 is reciprocated while shifting the position little by little on the unit work range 17. can do.

  As shown in FIG. 1, when the removal work process 3 (finishing work) of the next unit work range 17 is performed after the removal work process 3 (finishing work) of the unit work range 17 is completed, the removal work device 21 is moved to the next. The removal work process 3 (finishing work) is started from the beginning by moving to the unit work range 17, but when the removal work process 3 (finishing work) is completed for the entire work target, the unloading process is performed next. To migrate to.

  In the removal system for asbestos-containing building materials according to the second embodiment of the present invention, ionized gas is released into the work space 11 to remove static electricity from the floating asbestos-containing building materials 16. In this case, by discharging the charged dust and the like which are floating, the dust and the like are liable to sink and the floating time can be shortened. For this reason, it becomes easy to remove dust and the like from the work space 11, contamination of the surrounding environment due to scattering of dust and the like can be prevented, and the period required for removing the asbestos-containing building material 16 can be shortened. it can.

  In the asbestos-containing building material removal system according to Example 3 of the present invention, dust or the like of the asbestos-containing building material 16 floating in the work space 11 is charged to the positive electrode or the negative electrode, and the dust collecting member is charged to a different polarity. To do. In this case, since floating dust can be collected using Coulomb force, it becomes easy to remove dust from the work space 11 and contamination of the surrounding environment due to dust scattering. In addition, the period required for removing the asbestos-containing building material 16 can be shortened.

  In the asbestos-containing building material removal work device 21 according to the fourth embodiment of the present invention, when each unit work range 17 that is a subdivision of the work target range to be removed is inclined, the stored teaching is stored. The point that the removal work is executed by correcting the program itself is greatly different from the removal work device 21 of the first embodiment. The same parts as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  The removal work apparatus 21 according to the present embodiment includes a work reference point of each unit work range 17 that is a subdivision of a work target range to be removed, and a detection unit that detects the inclination of the unit work range 17. Storage means for storing a teaching program that starts the removal work in the unit work range 17 from a work reference point, executes it in accordance with the inclination, and repeatedly executes the removal work in each unit work range 17 in order; . The work reference point and inclination of the teaching / program are corrected to the detected work reference point and inclination by the detection signal of the detection means of the removal work device 21 and executed.

  According to the removal work device 21 according to the fourth embodiment, the removal work in the unit work range 17 is started from the work reference point by the teaching program, and is executed according to the inclination, and the removal in each unit work range 17 is performed. Work can be repeated in sequence. In addition, the removal work in each unit work range 17 can be sequentially repeated while correcting the teaching program according to the work reference point detected by the detecting means and the inclination of the work range. Therefore, even a three-dimensionally complicated work target can be easily performed by repeating a simple removal operation.

  In the asbestos-containing building material removal work device 21 according to the fifth embodiment of the present invention, when the removal work device 21 is performing the removal work based on the position information, the carriage 22 slips temporarily, and thus the position information. Even if the removal work device 21 is lost, the removal work device 21 returns to the position reference point, resets the position information, and returns to the removal work again. The same parts as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  The removal work apparatus 21 according to the present embodiment sets a position reference point in the work space 11 including the asbestos-containing building material 16, and stores position information of a work target to be removed as coordinate information from the position reference point. When the position information of the removal work device 21 by the detection means is lost due to slipping of the carriage 22 or the like by remote sensing or The position information is reset by returning to the position reference point by the teaching program.

  According to the removal work device 21 according to the fifth embodiment, even if the position information of the removal work device 21 by the detection means is lost due to slipping of the carriage 22, the position reference point is obtained by remote operation or teaching program. Since the position information is reset after returning to step S4, it is possible to prevent the operation from being continued or stopped while the position information of the removal work device 21 is lost. Further, it is possible to quickly return to the removal work using the position information of the work target to be removed stored in the data storage unit. The position reference point may be two or more. For example, by using two position reference points, it becomes easier to match the position information of the data storage unit and the position reference point, and the removal work device 21 can quickly obtain the position information.

  The asbestos-containing building material removal work device 21 according to Example 6 of the present invention will be described. This embodiment is greatly different from the first embodiment in that the removal operation at a high place can be performed. The same parts as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  In the removal work apparatus 21 according to the present embodiment, a robot 41 having a multi-joint arm is detachable from a pedestal 23 of a carriage 22, and the robot having a multi-joint arm can be used, for example, at a high place as shown in FIG. It can be mounted on the boom 62 of the car 61.

  According to the removal work apparatus 21 according to the sixth embodiment, even in the removal work of the asbestos-containing building material 16 provided at a high place that cannot be reached by the lifting and lowering of the pedestal 23 provided on the carriage 22, By attaching a robot having an articulated arm, removal work at a high place can be performed. In this case, it is economical because it is not necessary to prepare a robot having a plurality of articulated arms according to the height of the work target.

Schematic diagram of asbestos-containing building material removal system according to Example 1 of the present invention Schematic diagram of a work space 11, work preparation chamber 12, container 13 as a storage device, and removal work device 21 according to the first embodiment. Simplified perspective view of asbestos-containing building material removal work device 21 according to Example 1 of the present invention Schematic diagram of the tool Schematic diagram of marking 18 on the work target Schematic diagram of a state in which the removal work device 21 is moved below the unit work range 17 Schematic diagram of asbestos-containing building material removal work device 21 according to Example 6 of the present invention

Explanation of symbols

DESCRIPTION OF SYMBOLS 11 Work space 12 Work preparation room 13 Container 14 and 15 passage as storage device 16 Asbestos-containing building material 17 Unit work range 18 Marking 21 Removal work device 22 Carriage 23 Mount 24 Guide rail 25 Wheel 26 Anchor jack 27a, 27b Tank 32 Tool plate 33 Work surface detection tool 34 Wetting agent spray tool 35 Peeling tool 35a Spatula-like member 35b Pneumatic vibrator 36 Finishing tool 36a Rotating part 36b Wire 37 Solidifying agent spray tool 41 Robot with articulated arm 42 Tool mounting part 43 Master Plate 44 Dustproof Jacket 51 Camera 52 Stationary Camera 53 Control Device 54 Control Panel 55 Monitor 61 Aerial Work Vehicle 62 Boom

Claims (13)

An asbestos-containing building material removal system that removes asbestos-containing building materials on the ceiling, wall, etc. of a building,
A preparation process for communicating the work space containing the asbestos-containing building material and the work preparation room, and isolating the work space and the work preparation room from the outside,
A storage device for storing the removal work device in a state of being isolated from the outside is communicated with the work preparation chamber, and the work space, the work preparation chamber, and the storage device are isolated from the outside, and the storage device is separated from the storage device. A carrying-in step of moving the removal working device to the working space;
A removal work step of removing asbestos-containing building materials in the work space by the removal work device,
After the removal work process is completed, the work space, the work preparation chamber, and the storage device are communicated and separated from the outside, and the removal work device is moved from the work space to the storage device, An unloading step of detaching the storage device from the work preparation chamber and unloading the removal working device from the outside;
Asbestos-containing building material removal system characterized by containing.   The asbestos-containing building material removal system according to claim 1, wherein the removal work device executes all or part of the removal work process by a remote operation or a teaching program from outside the work space.   In the removal work step, the work target to be removed is subdivided into unit work ranges, and the removal work in each unit work range is sequentially repeated to remove the asbestos-containing building materials in the work target range. The asbestos-containing building material removal system according to any one of claims 1 to 2, wherein the asbestos-containing building material removal system is performed.   The removal work device is equipped with a dust-proof jacket, and the atmospheric pressure in the dust-proof jacket is maintained at a higher pressure than the work space, and after the removal work process, the dust-proof jacket is isolated from the outside. The asbestos-containing building material removal system according to any one of claims 1 to 3, wherein the asbestos-containing building material removal system according to any one of claims 1 to 3, wherein the removal work device is discarded.   5. The asbestos-containing building material removal system according to claim 1, wherein internal pressures of the work space, the work preparation chamber, and the storage device are kept at a lower pressure than the outside.   6. The asbestos-containing building material removal system according to claim 1, wherein ionized gas is discharged into the working space to remove dust from the floating asbestos-containing building material.   The asbestos according to any one of claims 1 to 6, wherein dust or the like of asbestos-containing building material floating in the work space is charged to the positive electrode or the negative electrode, and the dust collecting member is charged to a different polarity. Contained building material removal system. Each of the above means includes a moving means for moving in the work space, a fixing means for temporarily fixing in the work space, and an elevating means for raising and lowering a gantry provided with a robot having an articulated arm which will be described later. Trolley operated by remote control or teaching program;
A plurality of tools used for each operation or removal target included in the removal operation process;
A robot having a multi-joint arm that performs each operation included in the removal operation process and replacement of the tool performed at the end of each operation by remote operation or a teaching program;
The approach to the work object by the moving means of the carriage, the execution of each work included in the removal work process, the replacement of the tool performed between each work, and the movement to the next work object in order An asbestos-containing building material removal work device characterized by repetition.   9. The asbestos-containing building material removing work apparatus according to claim 8, further comprising means for confirming an image of a work environment, a work situation, and a work position.   The range of work to be removed is subdivided into unit work ranges, which are operated by remote operation or teaching / program to execute the removal work in each unit work range, and the removal work in each unit work range is performed. The asbestos-containing building material removal work apparatus according to any one of claims 8 to 9, wherein the asbestos-containing building material removal work in a range to be worked is performed by repeatedly performing it sequentially. A work reference point of each unit work range, which is a subdivision of a work target range to be removed, and a detecting means for detecting the inclination of the unit work range;
Storage means for storing a teaching program that starts the removal work in the unit work range from a work reference point, executes according to the inclination, and sequentially executes the removal work in each unit work range;
With
The work reference point and the inclination of the teaching program are corrected to the detected work reference point and the inclination by the detection signal of the detection means, and executed. Equipment for removing asbestos-containing building materials. A data storage unit that sets a position reference point in the work space containing the asbestos-containing building material, and stores position information of a work target to be removed as coordinate information from the position reference point;
Detecting means for detecting position information of the removal work device,
When the position information of the removal work device by the detecting means is lost due to slipping of the carriage, the position information is reset by returning to the position reference point by remote operation or teaching program. The asbestos-containing building material removal work device according to any one of claims 8 to 11, wherein the asbestos-containing building material is removed.   13. The robot having the articulated arm is detachable from a carriage base, and the robot having the articulated arm can be attached to a traveling carriage that can be used at a high place. The asbestos-containing building material removal work apparatus according to any one of the above.

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