JP2018059371A - Handling device and rubble removal method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a handling device for easily handling a comparatively small member in a narrow place, and to provide a rubble removal method.SOLUTION: A device 10 for handling an object includes: a driving/control unit section 12 having rotating means 36 which is suspended and supported by a crane and adjusts its rotation direction around a Z-axis; a boom section 14 which is fixed to the lower part of the driving/control unit section 12 in a rotatable manner around the Z-axis; an arm section 16 which is pin-joined to the boom section 14 and can change an attitude with respect to the boom section 14; and a work tool 20 which is mounted on the tip of the arm section 16 and operates for handling the object, where the boom section 14, the arm section 16 and the work tool 20 are configured to operate via the driving/control unit section 12.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a handling device and a debris removal method using the handling device, and in particular, a handling device suitable for cutting and gripping and removing debris such as piping and steel frames generated when a building is dismantled, and It relates to the debris removal method.

  Conventionally, debris such as pipes and steel frames is generated when a building such as a steel structure, a reinforced concrete structure, or a steel reinforced concrete structure is dismantled. As a handling device for removing such debris, a crane suspension type device is known in which handling tools such as cutting tools and gripping tools are suspended from a crane and operated (see, for example, Patent Document 1). There are various cutting tools such as those obtained by remodeling a large scale weight-removing machine and grabbing buckets as gripping tools. In addition, these tools are originally used for building demolition work and excavation / loading work, so many of them are large and cut fine members in narrow places (for example, steel materials and conduits with a cross section of 200 mm or less).・ There are few things that are suitable for gripping.

JP 2013-23940 A

  For this reason, it has been desired to develop a crane suspension type handling device that can easily handle a relatively small member in a narrow space.

  This invention is made | formed in view of the above, Comprising: It aims at providing the handling apparatus and rubble removal method which can handle the comparatively small member of a narrow place easily.

  In order to solve the above-described problems and achieve the object, a handling apparatus according to the present invention is an apparatus for handling an object, and is suspended by a lifting machine and adjusts a turning direction around its own vertical axis. A drive / control unit portion having a turning means for rotating, a boom portion fixed to the lower portion of the drive / control unit portion so as to be turnable about a vertical axis, and an arm that is pin-connected to the boom portion and capable of changing a posture with respect to the boom portion And a work tool that is attached to the tip of the arm part and operates to handle an object, and that the boom part, the arm part, and the work tool operate via the drive / control unit part. Features.

  Further, in another handling device according to the present invention, in the above-described invention, an attachment portion is provided at a tip of the arm portion, and a cutting tool and a gripping tool as a work tool are selectively provided in the attachment portion. It can be attached.

  In addition, another handling device according to the present invention includes a photographing unit provided in at least one of the drive / control unit unit, the boom unit, the arm unit, and the work tool in the above-described invention, and a photographed image by the photographing unit. Based on the above, it is possible to confirm at least one operation state of the drive / control unit, the boom, the arm, and the work tool.

  Further, the debris removal method according to the present invention is a method of removing debris using the above-described handling device, and after the handling device is arranged in the vicinity of the removal target position by operating the lifting machine, The control unit adjusts at least one of the pivoting direction of the boom part and the posture of the arm part to place the work tool in the vicinity of the debris. After the placement step, the work tool is operated to cut and hold the debris. And a removal step of removing.

  According to the handling device according to the present invention, a device for handling an object, which is suspended and supported by a lifting machine, has a turning / controlling unit that adjusts a turning direction about its own vertical axis, A boom part fixed to the lower part of the drive / control unit part so as to be pivotable about a vertical axis, an arm part that is pin-joined to the boom part and capable of changing the attitude with respect to the boom part, and attached to the tip of the arm part, And the boom part, the arm part, and the work tool are operated via the drive / control unit part, and are therefore supported by the lifting machine. Regardless, there is an effect that a relatively small member in a narrow place can be easily handled by appropriately operating the boom portion, the arm portion, and the work tool.

  Further, according to another handling device according to the present invention, an attachment portion is provided at the tip of the arm portion, and a cutting tool and a gripping tool as work tools can be selectively attached to the attachment portion. Since there exists, there exists an effect that a handling apparatus can be used for multiple purposes by exchanging work tools according to a use.

  In addition, according to another handling device of the present invention, it is provided with photographing means provided in at least one of the drive / control unit part, the boom part, the arm part, and the work tool, and based on the photographed image by the photographing means. Since the operating status of at least one of the drive / control unit, boom, arm, and work tool can be confirmed, the operator can take an image of the operating status of each part of the handling device and the positional relationship with the object. The work can be carried out while confirming, and the operability and work efficiency of remote operation can be improved.

  Further, according to the debris removal method according to the present invention, it is a method of removing debris using the handling device described above, after operating the lifting machine and placing the handling device in the vicinity of the removal target position, An arrangement step in which the drive / control unit adjusts at least one of the swivel direction of the boom part and the posture of the arm part to place the work tool in the vicinity of the debris. After the placement step, the work tool is operated to cut the debris. , And a removal step for grasping and removing the vehicle, the handling device is suspended and supported by the lifting machine. There is an effect that a relatively small member can be easily handled.

FIG. 1 is a perspective view showing an embodiment of a handling device according to the present invention. FIG. 2 is a horizontal sectional view of the handling apparatus of FIG. FIG. 3 is a side view of the handling apparatus of FIG. 4 is a front view of the handling apparatus of FIG. FIG. 5 is a partial perspective view showing another embodiment of the handling device according to the present invention. FIG. 6 is an explanatory diagram of the usage status of the handling device according to the present invention, where (1) is a steel pipe cutting status with a cutting tool, and (2) is a steel frame removal status with a gripping tool.

  Hereinafter, embodiments of a handling device and a debris removal method according to the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

(Handling device)
First, an embodiment of a handling device according to the present invention will be described.
As shown in FIG. 1, the handling device 10 according to the present invention includes a drive / control unit unit 12 suspended from a hook 1 of a crane (lifter) by a wire 2, a boom unit 14, an arm unit 16, It consists of an attachment part 18 and a work tool 20.

  The handling device 10 is used for cutting, grasping, and removing a rubble (object) such as a steel frame that is about to fall from a building housing being demolished or a pipe protruding from the housing. In the present embodiment, for example, a debris such as a steel material or a conduit having a cross section of 200 mm or less is assumed. Further, the handling device 10 having a weight of about 18 t, a length of 6 m, a width of 3 m, and a height of about 7 m is assumed.

  The drive / control unit section 12 is for driving and controlling the boom section 14, the arm section 16, the attachment section 18, and the work tool 20, and includes a rectangular parallelepiped frame 22, a turning device 24, an engine generator. 26, a control panel 28, and a watering device 30. The frame 22 is partitioned into two upper and lower chambers by a partition plate 32, and a bottom plate 34 is provided on the lower surface of the lower chamber. The swivel device 24 is installed on the partition plate 32 in the upper chamber, and the engine generator 26, the control panel 28, and the watering device 30 are installed on the bottom plate 34 in the lower chamber.

  The turning device 24 includes a turning fan 36 (turning means) that adjusts and controls the turning direction around the Z axis (vertical axis) of the drive / control unit 12. The swirling fans 36 are arranged at two places on the left and right sides of the swiveling device 24 with the Z-axis interposed therebetween, and generate horizontal thrust. The rotation direction R1 of the drive / control unit 12 can be adjusted to a desired direction (360 ° around the Z axis) by driving and controlling the rotation speed, rotation direction, and the like of each rotation fan 36.

  The engine generator 26 is a power source that drives the apparatus 10, and includes a swivel device 24, a water spray device 30, a boom unit 14, an arm unit 16, an attachment unit 18, a work tool 20, and a camera described later via a power cable (not shown). And driving power can be supplied to communication equipment. The control panel 28 is a device that controls the apparatus 10 and controls the operation of the boom unit 14, the arm unit 16, the attachment unit 18, the work tool 20, and a camera to be described later by transmitting and receiving data using a communication device and a communication cable (not shown). To do. For this reason, the control panel 28 transmits and receives signals related to remote operation to control the posture operation of the drive / control unit unit 12, the boom unit 14, the arm unit 16, and the attachment unit 18, the opening / closing operation of the work tool 20, and the like. The video signal from the camera can be received. The watering device 30 is for suppressing the generation of dust and the like at the work site, and can discharge water from a water tank (not shown) from a nozzle to the lower periphery (for example, the periphery of the work tool 20).

  The boom part 14 is a substantially box-shaped steel member that is long in the vertical direction, and is fixed to a cylindrical turning wheel 38 provided at the lower part of the drive / control unit part 12 so as to be turnable around the Z axis (turning direction). R2). In order to control the direction of the arm part 16 and the attachment part 18, the boom part 14 of the present embodiment, as shown in FIG. 2, from −45 ° to the left and right around the Z axis from the initial position P0 facing the front. Although it is possible to turn in a range of 45 ° (direction R2), it may be configured to be capable of turning in a range of angles other than this.

  As shown in FIG. 1, the boom portion 14 includes a hydraulic cylinder 40 and links 42A and 42B on the front side for controlling the posture of the arm portion 16 that is pin-joined to the lower end 14A. The upper end of the hydraulic cylinder 40 is pin-joined to the upper portion 44 on the front surface of the boom portion 14, and the lower end is pin-joined to the end portions 46 of the two links 42 </ b> A and 42 </ b> B. The other end of the link 42A is pin-joined to the lower portion 48 of the boom part 14, and the lower end 50 of the link 42B is pin-joined to the arm part 16 at a position below the lower end 14A of the boom part 14.

  The arm portion 16 is a long, substantially box-shaped steel member, and is slightly spaced in the longitudinal direction from the lower end 14A of the boom portion 14 and the lower end 50 of the link 42B on the upper surface side slightly rearward from the center in the longitudinal direction. Open and pinned respectively. An attachment portion 18 is provided at the front end of the arm portion 16, and a counterweight 52 for balancing is provided at the rear end. In order to approach the debris from above or from the side, the arm portion 16 can change the relative undulation posture (direction R3) with respect to the boom portion 14 by operating the hydraulic cylinder 40 of the boom portion 14 to expand and contract. It has become. In addition, as shown in FIG. 3, the arm part 16 of this embodiment sets the range of the undulation angle relative to the X axis (horizontal axis) to 0 to 90 ° (90 ° downward from the horizontal). However, the operation may be performed in a range of angles other than this.

  Further, as shown in FIG. 1, the arm portion 16 includes a hydraulic cylinder 54 and a link 42 </ b> C for controlling the undulating posture of the attachment portion 18 that is pin-joined to the tip thereof. The rear end of the hydraulic cylinder 54 is pin-joined to a substantially central portion 56 on the upper surface of the arm portion 16, and the front end is pin-joined to the base upper portion 58 of the attachment portion 18. One end of the link 42 </ b> C is pin-joined to the base upper part 58 of the attachment unit 18, and the other end of the link 42 </ b> C is pin-joined to the rear part 60 slightly from the tip of the arm part 16. On the other hand, the tip of the arm portion 16 is pin-bonded to the base lower portion 62 of the attachment portion 18.

  The attachment portion 18 is a small box-shaped member to which a small work tool 20 that operates to handle relatively small debris is attached, and is provided at the tip of the arm portion 16 so as to be tiltable. As the work tool 20, for example, a cutter (cutting tool), pliers (gripping tool), a reinforcing bar, a cable, etc. having a shape and size suitable for cutting and gripping a relatively small pipe or a steel frame such as a steel frame are cut one by one. There is a cutter with a small tip. The attachment unit 18 is configured to selectively attach a work tool 20 such as a cutter or pliers. By changing the work tool 20 attached to the attachment unit 18 according to the purpose and application, the handling device 10 can be used for multiple purposes and multiple purposes. The example of FIGS. 1-4 has shown the case where the cutter for cutting is attached to the attachment part 18. FIG. In the vicinity of the cutting blade 20A of the cutter, a fender 20B for gripping an object to be cut is provided so as not to drop the cut material. In the example of FIG. 5, a case where a gripping pliers 64 is attached to the attachment portion 18 is shown. In the present embodiment, since the attachment / detachment / replacement of the work tool 20 such as a cutting cutter and gripping pliers with respect to the attachment unit 18 is easily performed, a one-touch operation that can be attached / removed with one touch is used instead of an attachment / detachment mechanism. A detachable mechanism is adopted.

  As described above with reference to FIG. 1, the attachment portion 18 is pin-bonded to the tip of the arm portion 16 at the base lower portion 62, and is pin-bonded to the link 42 </ b> C and the end of the hydraulic cylinder 54 at the base upper portion 58. ing. The tilt posture (direction R4) of the attachment part 18 with respect to the arm part 16 can be changed by operating the hydraulic cylinder 54 of the arm part 16 to expand and contract. As shown in FIG. 3, the attachment unit 18 of the present embodiment has a tilt angle range of −60 ° to + 45 ° with respect to the arm unit 16 in the horizontal posture (the downward angle from the horizontal is 60 °, the upward angle Is set to 45 °) (direction R4), but it may be operated in a range of angles other than this. As shown in FIGS. 1 and 4, the attachment unit 18 can change the rotation position of the work tool 20 in an arbitrary direction R <b> 5 by a rotation mechanism provided in the attachment unit 18. The work tool 20 is set to perform a predetermined operation according to the work purpose. In the case of a cutter or pliers, it can operate in the opening / closing direction R6.

  The handling device 10 configured as described above appropriately operates the drive / control unit unit 12, the boom unit 14, the arm unit 16, the attachment unit 18, and the work tool 20 having six degrees of freedom (directions R1 to R6). In spite of the configuration in which the crane is suspended and supported remotely, relatively small debris can be easily cut and gripped. Moreover, the attachment part 18 can be inserted in a narrow place, and the debris inside can be cut, grasped and removed. Moreover, the same handling apparatus 10 can be used for multipurpose and multipurpose by replacing and exchanging the work tool 20 attached to the attachment part 18 according to the purpose and use.

  In particular, for radioactive debris that is difficult to access due to the dismantling of a radioactively contaminated concrete building, the handling device 10 is suspended and moved by a crane and remotely operated to cut relatively small radioactive debris. The gripping operation can be performed more safely.

  In the above embodiment, at least one of the drive / control unit unit 12, the boom unit 14, the arm unit 16, the attachment unit 18, and the work tool 20 is provided with a camera (photographing unit) for supporting remote operation of each unit. May be. The video (captured image) from the camera is received by the control panel 28 of the drive / control unit 12 and distributed to the monitor of the control panel 28 or the remote operation room away from the handling device 10 and displayed on the monitor. The operator may be able to check the video. In this way, when the operator cuts and grips relatively small debris by remote control, the operator can proceed with the work while confirming the operation status of each part and the positional relationship with the debris by video. The operability of operation and work efficiency can be improved. In addition, a sound microphone may be provided together with the camera to distribute sound to a remote control room or the like to give a sense of reality. In this way, the operator can check the operation status of each part by sound as well as video. For example, in the case of FIG. 5, an example in which three cameras 68 are installed around the attachment unit 18 via the fixing member 66 is shown, but an arbitrary number of cameras and microphones are installed in other locations. Also good.

  In the above embodiment, the case where the object to be handled is a debris such as a pipe or a steel frame generated when the building is dismantled has been described as an example, but the present invention is not limited to this. In addition, other rubble such as reinforcing bars, rubble generated due to natural disasters, and objects other than rubble may be handled as handling targets such as cutting and gripping. In addition, radioactive debris such as pipes and steel frames generated when the concrete structure contaminated with radioactivity is disassembled may be handled.

(Debris removal method)
Next, an embodiment of the debris removal method according to the present invention will be described.
The debris removal method according to the present invention is a method of removing debris using the handling device 10 described above, and includes an arrangement step and a removal step.

  In the placement step, the crane is lifted and the handling device 10 is placed around the rubble to be removed, and then the operator places the control panel 28 of the drive / control unit 12 or the control panel of the remote control room (not shown). By operating and controlling the direction R1 of the drive / control unit section 12, the direction R2 of the boom section 14, the directions R3 and R4 of the arm section 16, and the direction R5 of the attachment section 18, each posture is adjusted, and the work tool 20 Is placed near the rubble. In the removal step, after that, the direction R6 of the work tool 20 is operated to cut and grip the debris with the work tool 20, and the gripped debris is removed by adjusting the posture of each part. Here, the work tool 20 is appropriately replaced with a cutting cutter or a gripping pliers according to the work purpose. This replacement work may be performed by temporarily moving the handling device with a crane in a work space secured around the work position, for example. In addition, FIG. 6 (1) has shown the cutting condition of the steel pipe G1 by the cutter 70 for cutting. FIG. 6 (2) shows the removal state of the steel frame G <b> 2 by the gripping pliers 64.

  According to this debris removal method, as described above, the handling / control unit unit 12, the boom unit 14, the arm unit 16, the attachment unit 18, although the handling device 10 is suspended and supported by the crane, By appropriately operating the work tool 20, a relatively small member in a narrow space can be easily cut and gripped.

  As described above, according to the handling device of the present invention, the device is a device for handling an object, which is supported by a lifting machine and has a turning means for adjusting a turning direction about its own vertical axis. A control unit, a boom unit fixed to the lower part of the drive / control unit unit so as to be pivotable about a vertical axis, an arm unit that is pin-joined to the boom unit and capable of changing the posture with respect to the boom unit, It is attached to the tip and has working tools that operate to handle objects, and the boom, arm, and working tools operate via the drive / control unit, so they are suspended and supported by the lifting machine. In spite of this configuration, it is possible to easily handle a relatively small member in a narrow space by appropriately operating the boom portion, the arm portion, and the work tool.

  Further, according to another handling device according to the present invention, an attachment portion is provided at the tip of the arm portion, and a cutting tool and a gripping tool as work tools can be selectively attached to the attachment portion. Therefore, the handling device can be used for multiple purposes by exchanging the work tool according to the application.

  In addition, according to another handling device of the present invention, it is provided with photographing means provided in at least one of the drive / control unit part, the boom part, the arm part, and the work tool, and based on the photographed image by the photographing means. Since the operating status of at least one of the drive / control unit, boom, arm, and work tool can be confirmed, the operator can take an image of the operating status of each part of the handling device and the positional relationship with the object. The work can be carried out while confirming with, and the operability and work efficiency of remote operation can be improved.

  Further, according to the debris removal method according to the present invention, it is a method of removing debris using the handling device described above, after operating the lifting machine and placing the handling device in the vicinity of the removal target position, An arrangement step in which the drive / control unit adjusts at least one of the swivel direction of the boom part and the posture of the arm part to place the work tool in the vicinity of the debris. After the placement step, the work tool is operated to cut the debris. , And a removal step for grasping and removing the vehicle, the handling device is suspended and supported by the lifting machine. A relatively small member can be easily handled.

  As described above, the handling device and the debris removal method according to the present invention are useful for cutting and gripping and removing debris such as pipes and steel frames generated when a building is dismantled. It is suitable for easily handling a member having a relatively small place.

DESCRIPTION OF SYMBOLS 1 Hook 2 Wire 10 Handling apparatus 12 Drive / control unit part 14 Boom part 14A Lower end 16 Arm part 18 Attachment part 20 Work tool 22 Frame body 24 Turning apparatus 26 Engine generator 28 Control panel 30 Watering apparatus 32 Partition plate 34 Bottom board 36 Turning Fan (swivel means)
38 Rotating wheel 40, 54 Hydraulic cylinder 42A, 42B, 42C Link 44 Upper part 46 End part 48 Lower part 50 Lower end 52 Counterweight 56 Substantially central part 58 Base upper part 60 Rear part 62 Base lower part 64 Pliers Tools)
66 fixing member 68 camera (photographing means)
70 Cutter (Working tool)
G1 steel pipe (rubble)
G2 steel frame (rubble)
R1-R6 direction

Claims (4)

A device for handling an object,
A drive / control unit unit that is suspended and supported by a lifting machine and has a turning means for adjusting a turning direction around its vertical axis;
A boom part fixed to the lower part of the drive / control unit part so as to be pivotable about a vertical axis;
An arm part that is pin-joined to the boom part and capable of changing the posture with respect to the boom part;
A work tool attached to the tip of the arm portion and operating to handle an object;
The handling device, wherein the boom portion, the arm portion, and the work tool operate through a drive / control unit portion.   The handling device according to claim 1, wherein an attachment part is provided at a tip of the arm part, and a cutting tool and a gripping tool as a work tool can be selectively attached to the attachment part. .   It is provided with photographing means provided in at least one of the driving / control unit part, the boom part, the arm part, and the work tool, and based on the photographed image by this photographing means, the driving / control unit part, the boom part, the arm part, the work The handling device according to claim 1, wherein at least one operation state of the tools can be confirmed. A method for removing rubble using the handling device according to any one of claims 1 to 3,
After operating the lifting machine and placing the handling device in the vicinity of the position to be removed, the drive / control unit unit adjusts at least one of the pivoting direction of the boom unit and the posture of the arm unit to place the work tool in the vicinity of the debris A placement step to be placed on,
A debris removal method, comprising: a removal step of cutting, grasping and removing the debris by operating a work tool after the arranging step.

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