JP2020041273A - Cylindrical structure demolition apparatus and cylindrical structure demolition method - Google Patents

Abstract

To provide a cylindrical structure demolition apparatus capable of demolishing a cylinder and an outer structure of a cylindrical structure from their upper part and suspending and lowering a demolished object to the ground without arranging any workers.SOLUTION: A fixation part 3 presses an inner surface of a cylinder 10, which makes the fixation part come into a state of being fixed on the cylinder 10 and enables a cylinder cutting part 4 and revolving stands (5A, 5B) rotatably assembled to the fixation part 3 to revolve around a revolving axis RX along a center line of the cylinder 10. When the cylinder cutting part 4 revolves with respect to the fixation part 3, the inner surface of the cylinder 10 is cut in the circumferential direction by a circular saw 41 of the cylinder cutting part 4. When the revolving stands (5A, 5B) revolve with respect to the fixation part 3, outer structure cutting parts (6A to 6C) fixed on or suspended from the revolving stands (5A, 5B) come into a state of being arranged so as to face an outer structure 11, a cutting target. In the state, the outer structure 11, the cutting target, is grasped and cut by the outer structure cutting parts.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an apparatus for dismantling a tubular structure such as an exhaust stack or a chimney and a method for disassembling the same, and for example, to a configuration and a dismantling method for an exhaust pipe tower dismantling apparatus.

  As a method of dismantling a tubular structure such as an exhaust pipe or a chimney, a method of sequentially cutting and removing the lower part of the cylindrical body while keeping the upper part of the cylindrical body suspended by a steel tower supporting the cylindrical body (see Patent Document 1 below) And a method of disposing a work scaffold around a tubular body and disassembling it sequentially from the top (see Patent Document 2 below).

JP-A-2003-343094 JP-A-11-166315

  However, the conventional method of dismantling the tubular body from the lower part cannot be adopted when the strength of the tower is reduced due to aging or the like. In addition, the conventional method of dismantling the cylinder body from above requires work at a high place, and there is a problem in securing the safety of workers.

  In the case of a relatively low cylindrical structure, a heavy machine lifted by a crane may crush the cylinder directly from the top, but if the crushed material falls directly to the ground, dust will adversely affect the surrounding environment . Therefore, in particular, when dismantling a large cylindrical structure, it is necessary to dismantle the tubular body and the steel tower so that the dismantled object has an appropriate size, and to suspend the dismantled object on the ground. However, in the conventional construction method, it is difficult to disassemble both the tubular body and the steel tower from the top without disposing an operator, and to suspend the dismantled object on the ground.

  The present invention has been made in view of the above circumstances, and an object thereof is to dismantle a tubular body and an outer structure of a tubular structure from above without disposing an operator, and suspend the dismantled object on the ground. It is an object of the present invention to provide a tubular structure dismantling device and a tubular structure dismantling method which can be performed.

  A tubular structure dismantling device according to a first aspect of the present invention is a tubular structure dismantling device that includes a tubular body and an outer structure provided outside the tubular body. A cylinder cutting machine that has a fixing portion fixed to the cylinder body by pressing the inner surface, and one or more cutting tools that can turn with respect to the fixing portion, and cuts the inner surface in the circumferential direction of the cylinder body by turning the cutting tool. Part, one or more outer structure cutting parts for gripping and cutting the outer structure, and an outer structure cutting part which is located outside the tubular body and is pivotable with respect to the fixed part, and the outer structure cutting part is fixed or suspended. Swivel table. The tubular body cutting portion and the swivel base are respectively combined so as to be able to pivot with respect to the fixed portion, and pass through the center of the cross section perpendicular to the longitudinal direction of the tubular body when the fixed portion is fixed to the inner surface of the tubular body. Each is driven to pivot about a pivot axis along the centerline.

  According to the tubular structure dismantling device, the fixed portion is fixed to the tubular body by pressing the inner surface of the tubular body, and the tubular body cutting portion and the swivel that are rotatably combined with the fixed portion. The platform is pivotable about a pivot axis along the centerline of the barrel. When the tubular body cutting portion turns with respect to the fixed portion, the inner surface of the tubular body is circumferentially cut by one or more cutting tools of the tubular body cutting portion. In addition, when the swivel base rotates with respect to the fixed part, one or more outer structure cutting parts fixed or suspended on the swivel base are arranged toward the outer structure to be cut, and in this state. The outer structure to be cut is gripped and cut by the outer structure cutting unit. Therefore, it is possible to cut the tubular body and the outer structure, respectively, without placing an operator on the upper part of the tubular structure. Also, by hanging the fixed part on the ground with a crane or the like, it is possible to hang the cut part of the tubular body fixed to the fixed part or the cut part of the outer structure gripped by the outer structure cut part on the ground. It becomes possible.

Suitably, the swivel platform may include at least one beam extending in a direction perpendicular to the pivot axis, and the outer structure cut may be suspended by the beam.
According to this configuration, it is possible to arrange the outer structure cutting portion at an appropriate position below the beam portion while suppressing the weight of the swivel base.

Preferably, the swivel base includes four beam portions provided in a cross shape about the pivot axis, and the outer structure cutting portion may be hung on each of the four beam portions.
According to this configuration, the center of gravity is easily located near the center of the four beam portions provided in a cross shape, and the posture of the turning axis along the center line of the cylindrical body is easily maintained stably.

Preferably, the beam portion may include a movable hanging portion driven in a forward and backward direction with respect to the pivot axis, and the outer structure cutting portion may be suspended by the movable hanging portion.
According to this configuration, by moving the movable hanging portion, it is possible to change the distance of the outer structure cutting portion with respect to the turning axis, and to appropriately position the outer structure cutting portion with respect to the outer structure to be cut. It becomes easy to set.

Preferably, the tubular structure dismantling device is inserted into at least one of the three ropes connected to the outer structure cutting portion and the beam portion and the three ropes, and is capable of changing the length in the vertical direction. And at least one length control unit.
According to this configuration, by changing the length of the length control unit in the vertical direction, it is possible to control the attitude of the outer structure cutting unit. It is easy to appropriately set the posture of the unit.

Preferably, the outer structure cutting section is fixed to the first support section connected to the three ropes, the second support section pivotally combined with the first support section, and the second support section, It may include a gripping part for gripping the outer structure and a cutting part fixed to the second support part and cutting the outer structure. The second support may be driven to pivot about an axis perpendicular to a straight line passing through the two connectors connecting the two ropes and the first support. At least a length control unit may be inserted into a rope other than the two ropes.
According to this configuration, the two ropes are connected to the first support unit by the two connecting tools, and the length control unit is inserted into a rope other than the two ropes. Therefore, when the length of the length control unit in the vertical direction is changed, the first support unit pivots about a straight line passing through the two connecting tools. In addition, when the second support is driven to pivot with respect to the first support, the second support pivots about an axis perpendicular to a straight line passing through the two connecting members. That is, by independently changing the length of the length control unit and turning the second support unit, the grip unit and the cutting unit fixed to the second support unit can be rotated about axes perpendicular to each other. It becomes possible to turn independently. Therefore, it is easy to more appropriately set the posture of the outer structure cutting portion with respect to the outer structure to be cut.

Preferably, the outer structure cutting part may include a hanging balance pivotally mounted to the first support part. Two connecting tools connected to the two ropes and a connecting tool connected to a rope other than the two ropes via the length control unit may be provided on the hanging balance. The axis on which the suspension balance pivots with respect to the first support is perpendicular to the axis with which the second support pivots with respect to the first support and perpendicular to the straight line passing through the two couplings. May be.
According to this configuration, by adjusting the length of the length control unit, the turning angle of the second supporting unit with respect to the first supporting unit, and the turning angle of the hanging balance with respect to the first supporting unit, the outside of the cutting target is adjusted. It becomes easier to more appropriately set the posture of the outer structure cutting portion with respect to the structure.

Suitably, the outer structure cutting part may have at least one first drill part with a drill bit that drills a hole in the outer structure and fits into the hole.
According to this configuration, the cut portion of the outer structure cut by the outer structure cut portion does not easily fall off the outer structure cut portion.

Preferably, the swivel base may include at least one beam portion extending in a direction perpendicular to the swivel axis, and the outer structure cutting portion includes a gripping robot arm for gripping the outer structure, and a gripping robot arm. A cutting robot arm for cutting the outer structure in a gripped state. The gripping robot arm and the cutting robot arm may be fixed to the beam.
According to this configuration, it is possible to cut and collect a relatively small outer structure.

Preferably, the fixing portion may include at least one pressing portion that presses the inner surface of the tubular body. The pressing portion may include a plurality of pressing mechanisms that respectively generate pressing forces for pressing the inner surface of the cylindrical body in the radial direction. The plurality of pressing mechanisms may apply a pressing force to a plurality of positions on the inner surface that are spaced at equal intervals in the circumferential direction of the cylindrical body.
According to this configuration, since the plurality of positions on the inner surface of the cylindrical body are pressed with substantially uniform pressing force, the fixing portion is stably fixed to the cylindrical body.

Preferably, the fixing portion includes at least one second drill portion provided with a drill blade having a hole formed in an inner surface of the cylindrical body at a top side of the cylindrical body from a cutting position of the cylindrical body cutting portion and fitted into the hole. May have.
According to this configuration, the cut portion of the tubular body cut by the tubular body cutting portion is less likely to fall off the fixed portion.

Preferably, the fixing portion may include a plurality of second drill portions corresponding to the plurality of pressing mechanisms of the pressing portion. One pressing mechanism corresponding to one second drill portion is located on the bottom side of the tubular body with respect to the position of the hole drilled by the one second drill portion, and is located on the tubular body with respect to the cutting position of the tubular body cutting portion. The inner surface of the tubular body may be pressed on the top side.
According to this configuration, the vibration at the time of cutting the inner surface of the tubular body by the tubular body cutting portion is suppressed at the pressed portion of the pressing mechanism, and is less likely to be transmitted to the drill blade of the second drill portion.

Preferably, the fixing portion may include two pressing portions for pressing the inner surface of the tubular body at different positions in the longitudinal direction of the tubular body. The tubular body cutting portion may cut the inner surface at an intermediate position between the pressing positions of the two pressing portions.
According to this configuration, the inner surface of the cylindrical body is cut at an intermediate position between the pressing positions of the two pressing portions, so that the position of the fixing portion with respect to the cylindrical body is stabilized before and after the cutting of the cylindrical body. It will be easier. Further, after the cutting of the cylindrical body, the pressing is released at the pressing portion disposed on the bottom side of the cylindrical body, and the pressing is maintained at the pressing portion disposed on the top side of the cylindrical body, thereby cutting the cylindrical body. It is possible to hang down the part with the part fixed to the fixing part.

A method for dismantling a tubular structure according to a second aspect of the present invention is a method for dismantling a tubular structure comprising a tubular body and an outer structure provided outside the tubular body, A fixing portion fixed to the cylinder body by pressing the inner surface, a cylinder cutting portion having one or more cutting tools pivotable with respect to the fixing portion, and one or more outer sides for gripping and cutting the outer structure A device having a structure cutting portion and a swivel table rotatable with respect to the fixed portion and having the outer structure cutting portion fixed or suspended is lifted, and the fixed portion and the tube cutting portion are moved inside the tube body. And the step of positioning the swivel table outside the tubular body, the step of pressing the inner surface of the tubular body to the fixed portion to fix the fixed portion to the tubular body, and the step of cutting the outer structure to the outer structure. Turning along a center line passing through the center of the cross section perpendicular to the longitudinal direction of the barrel so as to approach the target part Swiveling the swivel table around, gripping the target portion with the outer structure cutting portion, and cutting the target portion from the other portion of the outer structure, and one or more cutting tools of the tubular body cutting portion. Turning around the turning axis, cutting the inner surface in the circumferential direction of the cylinder by turning the cutting tool, and fixing the fixed portion to a part of the cut cylinder, and forming the cut target portion into the outer structure Removing the part of the cut tubular body and the cut target part from the tubular structure by lifting the apparatus while holding the apparatus by the object cutting unit.
According to the tubular structure dismantling method, a part of the tubular body and a target portion of the outer structure are respectively cut without placing an operator on the top of the tubular structure, and these cut materials are placed on the ground. It can be suspended.

  Advantageous Effects of Invention According to the present invention, a tubular structure dismantling apparatus and a tubular structure capable of dismantling a tubular body and an outer structure of a tubular structure from above without disposing an operator, and hanging the dismantled object on the ground A method of dismantling can be provided.

FIG. 1 is a diagram illustrating an example in which the tubular structure dismantling device according to the present embodiment is suspended by a crane and installed on the tubular body of the tubular structure. 2A and 2B are diagrams showing an example of a tubular structure dismantling device used for removing a tubular body and incidental objects. 3A to 3C are diagrams illustrating an example of a tubular structure dismantling device used for removing a tubular body and a steel tower (main pillar). 4A to 4C are views showing an example of a tubular structure dismantling device used for removing a tubular body and a steel tower (diagonal member). FIGS. 5A and 5B are diagrams illustrating an example of a main portion of a fixing portion and a cutting portion of the tubular body arranged inside the tubular body. 6A and 6B are diagrams illustrating an example of two pressing portions in the fixing portion. 7A to 7C are diagrams illustrating an example of a pressing unit and a drill unit disposed above the tubular body cutting unit. 8A and 8B are diagrams illustrating an example of a drill provided on the upper side of the pressing mechanism. 9A to 9D are diagrams illustrating an example of a tube body cutting section. 10A and 10B are diagrams illustrating an example of an outer structure cutting portion used for cutting a main pillar. 11A and 11B are diagrams illustrating an example of a mechanism for gripping a column member at a gripping portion of an outer structure cutting portion. 12A and 12B are diagrams illustrating an example of a mechanism that cuts a pillar member at a cutting portion of an outer structure cutting portion. 13A and 13B are diagrams illustrating an example of a mechanism that cuts a pillar member at a cutting portion of an outer structure cutting portion. FIG. 14 is a diagram illustrating a mechanism for turning the turning base at the cutting portion of the outer structure cutting portion. 15A and 15B are diagrams illustrating a main part of a cutting portion of the outer structure cutting portion. 16A to 16C are diagrams illustrating the operation of the cutting position adjusting mechanism in the cutting portion of the outer structure cutting portion. 17A and 17B are diagrams illustrating an example of an outer structure cutting portion used for cutting a diagonal material. 18A and 18B are diagrams illustrating an operation of installing a tubular structure dismantling device used for removing a tubular body and incidental objects on the tubular body. 19A to 19C are diagrams illustrating an operation of cutting an accessory attached to the outside of the cylindrical body by the outside structure cutting unit. 20A and 20B are diagrams illustrating an operation of fixing a conduit tube to a ladder or the like using a robot arm. 21A to 21D are diagrams illustrating an operation of cutting the inner surface of the cylindrical body in the circumferential direction by the cylindrical body cutting unit. 22A to 22D are diagrams illustrating an operation of cutting the inner surface of the cylindrical body in the longitudinal direction after cutting the inner surface of the cylindrical body in the circumferential direction. FIG. 23 is a diagram illustrating an operation of removing a part of the tubular body cut by the tubular body cutting part in a state where the part is fixed to the fixing part. FIGS. 24A and 24B are diagrams illustrating an operation of installing a tubular structure dismantling device used for removing a tubular body and a steel tower (diagonal member) on the tubular body. FIG. 25A to FIG. 25C are diagrams illustrating the operation of controlling the position and posture of the outer structure cutting portion for cutting the diagonal material. 26A to 26F are diagrams illustrating the operation of gripping and clamping the diagonal material in the outer structure cutting part for diagonal material cutting. 27A to 27D are diagrams illustrating the operation of cutting the diagonal member (column member) at the cutting portion of the outer structure cutting portion. FIGS. 28A and 28B are diagrams illustrating an operation of installing a tubular structure dismantling device used for removing a tubular body and a steel tower (main column) on the tubular body. 29A to 29C are diagrams illustrating an operation of cutting the main pillar at the outer structure cutting portion and collectively removing the cut portion of the tubular body and the steel tower.

  Hereinafter, embodiments of a tubular structure dismantling apparatus and a tubular structure dismantling method according to an embodiment of the present invention will be described with reference to the drawings. FIG. 1 shows a cylindrical structure dismantling device 2 (hereinafter, abbreviated as “dismantling device 2”) according to the present embodiment suspended by a crane 90 and a tube of a cylindrical structure 1 such as an exhaust tube or a chimney. FIG. 3 is a diagram showing an example of installation on a body 10.

  As shown in FIG. 1, the tubular structure 1 is a structure including a tubular tubular body 10 built vertically to the ground and an outer structure 11 provided outside the tubular body 10. . The outer structure 11 includes a tower 12 that supports the tubular body 10 from the surroundings, a ladder 15 used when ascending to the tower 12, a back cage 16 surrounding the ladder 15, a conduit 17 for passing electric wires, (See FIGS. 19A to 19C to be described later). When the dismantling device 2 is installed on the upper part of the tubular body 10, the tubular body 10 and a part of the outer structure 11 are cut off without relying on manual work at the installed site, and the cut portion is gripped. . The crane 90 suspends the dismantling device 2 on the ground while the dismantling device 2 grips these cut portions. In the disassembly method according to the present embodiment, the tubular structure 1 is disassembled from above without repeating the steps, by disposing the worker on the tubular structure 1.

  The remote control unit 25 that controls the dismantling device 2 is installed at a location away from the tubular structure 1. Cameras and sensors for monitoring the operation of each mechanism are attached to various parts of the dismantling device 2. The operator of the remote control unit 25 remotely operates the dismantling device 2 while checking the captured image of the camera attached to the dismantling device 2 and the detection result of the sensor.

  Specifically, the dismantling device 2 according to the present embodiment includes three types of tubular structure dismantling devices 2A, 2B, and 2C (hereinafter, referred to as “dismantling devices 2A”) that can be properly used according to the cutting target of the outer structure 11. , “Dismantling device 2B” and “dismantling device 2C”). That is, the dismantling device 2A is used when removing the incidental objects (the ladder 15, the back cage 16, the conduit 17 and the like) other than the steel tower 12 in the outer structure 11. The dismantling device 2B is used when removing the main pillar 13 extending in the substantially vertical direction in the steel tower 12. The dismantling device 2C is used for removing the diagonal members 14 that are greatly inclined from the vertical direction in the steel tower 12.

2A and 2B are diagrams illustrating an example of a dismantling device 2A used for removing the cylindrical body 10 and the accompanying objects (the ladder 15, the back cage 16, the electric conduit 17 and the like). FIG. 2A is a perspective view of the disassembling apparatus 2A, and FIG. 2B is a side view of the disassembling apparatus 2 as viewed from a lateral direction.
3A to 3C are views showing an example of a dismantling device 2B used for removing the cylindrical body 10 and the main pillar 13. FIG. 3A is a perspective view of the disassembling device 2B as viewed from above, FIG. 3B is a plan view of the disassembly device 2B as viewed from above, and FIG. 3C is a side view of the disassembly device 2B as viewed from the side.
4A to 4C are diagrams illustrating an example of a dismantling device 2C used for removing the cylindrical body 10 and the diagonal members 14. 4A is a perspective view of the disassembly device 2C, FIG. 4B is a plan view of the disassembly device 2C viewed from above, and FIG. 4C is a side view of the disassembly device 2C viewed from the lateral direction.
Here, the configuration of each of the dismantling devices 2A to 2C will be described.

[Dismantling device 2A]
The disassembling apparatus 2A shown in FIGS. 2A to 2C has a fixed body 3 fixed to the cylindrical body 10 by pressing the inner surface of the cylindrical body 10 and a cutting body having a cutting tool that can rotate with respect to the fixed part 3. Part 4, an outer structure cutting part 6 </ b> A that grips and cuts incidental objects (ladder 15, back cage 16, electric conduit 17, etc.) outside the cylindrical body 10, and a fixed part located outside the cylindrical body 10. 3 and a revolving base 5A to which the outer structure cutting portion 6A is fixed. The tubular body cutting portion 4 and the swivel base 5A are combined so as to be able to swivel with respect to the fixed portion 3, respectively. In addition, the tubular body cutting unit 4 and the swivel base 5A are driven to swing around the swivel axis RX. In a state where the fixing portion 3 is fixed to the tubular body 10, the turning axis RX is in a state along a center line passing through the center of a cross section perpendicular to the longitudinal direction of the tubular body 10 as shown in FIG. 18B described later. . The tube cutting section 4 cuts the inner surface of the tube 10 in a circumferential direction (a direction along a cross section perpendicular to the longitudinal direction of the tube 10) by turning the cutting tool around the turning axis RX.

  As shown in FIGS. 2A and 2B, the swivel base 5A includes beam portions 51-1 and 51-2 extending in a direction perpendicular to the rotation axis RX (hereinafter, may be referred to as “beam portions 51” without distinction. There is). Each of the beam portions 51-1 and 51-2 is a rectangular parallelepiped frame in the illustrated example, and linearly extends in a direction perpendicular to the turning axis RX. Each of the beam portions 51-1 and 51-2 has a substantially symmetric outer shape with respect to the pivot axis RX. On the upper surface of the central portion of the swivel base 5A, there are provided four connecting tools (hanging metal fittings) 503 for connecting metal fittings of the hanging rope. Also. Near the center of the turntable 5A, a control panel 507 containing various control devices (computers and the like) and generators 505 and 506 used as a power source for motors and control devices are installed. A swivel support 20A is attached to the lower surface of the center of the swivel 5A. The revolving base 5A is rotatably combined with a frame 30 of the fixed part 3, which will be described later, via a cylindrical revolving base supporting part 20A extending along the revolving axis RX. The swivel support 20A is, for example, fixed to the frame 30 of the fixed part 3 with bolts or the like, and is pivotally attached to the swivel 5A via a swivel bearing or the like. By driving a swivel bearing by a motor (not shown) provided on the swivel base 5A, the swivel base 5A turns with respect to the fixed part 3.

  An outer structure cutting portion 6A is fixed to a lower surface of an end portion of the beam portion 51-1 remote from the rotation axis RX via a support frame 501. The outer structure cutting section 6A includes a holding robot arm 61 to which a robot hand for holding an accessory is attached, and a cutting robot arm to which a cutting instrument (a circular saw or the like) for cutting the accessory is attached. 62. These robot arms (61, 62) are, for example, articulated robots having six axes or the like, and can grip and cut attached objects in various postures. On the support frame 501, control panels 508 and 509 containing control devices for these robot arms (61 and 62) are installed.

  On the other hand, a robot arm 60 for cutting a tubular body is fixed via a support frame 502 to a lower surface of an end of the beam portion 51-2 remote from the rotation axis RX. The tubular body cutting robot arm 60 includes a cutting instrument (such as a circular saw) for cutting the tubular body 10. The cylindrical body cutting robot arm 60 is used for cutting the portion where the cylindrical body cutting section 4 cannot be cut from inside the cylindrical body 10 from outside the cylindrical body 10. On the support frame 502, a control panel 510 containing control equipment for the robot arm 60 for cutting the tubular body is installed.

  FIGS. 5A and 5B are views showing an example of the main parts of the fixing portion 3 and the tube cutting portion 4 arranged inside the tube 10. FIG. 5A shows a perspective view of the fixing part 3 and the tubular body cutting part 4. FIG. 5B is a sectional view taken along the line VV of FIG. 5A. 6A and 6B are diagrams illustrating an example of the two pressing portions 31 and 32 in the fixed portion 3. FIG. FIG. 6A is a plan view of the pressing portion 31 as viewed from above, and FIG. 6B is a plan view of the pressing portion 32 as viewed from above.

  As shown in FIGS. 2A and 2B, the fixing portion 3 has two pressing portions 31 and 32 that press the inner surface of the cylindrical body 10 at different positions in the longitudinal direction of the cylindrical body 10. The pressing portion 31 presses the inner surface of the cylindrical body 10 above the pressing portion 32 (on the top side of the cylindrical body 10). The tube body cutting section 4 cuts the inner surface of the tube body 10 in the circumferential direction at an intermediate position between the pressing positions of the two pressing portions 31 and 32.

  As shown in FIG. 6A, the upper pressing portion 31 has four pressing mechanisms 310-1 to 310-4 each generating a pressing force for pressing the inner surface of the cylindrical body 10 in the radial direction (hereinafter, without distinction, “ Press mechanism 310 ”). The four pressing mechanisms 310 apply pressing forces to four positions on the inner surface of the cylindrical body 10 that are equally spaced in the circumferential direction of the cylindrical body 10. The four pressing mechanisms 310 apply pressing forces to four positions on the inner surface of the cylindrical body 10 along four radial directions extending in a cross shape around the turning axis RX.

  As shown in FIG. 6A, the four pressing mechanisms 310 include a telescopic arm 311 that expands and contracts in the radial direction of the cylindrical body 10, and a contact portion that is provided at the tip of the telescopic arm 311 and that contacts the inner surface of the cylindrical body 10. 312 respectively.

  As shown in FIG. 6B, the lower pressing portion 32 has four pressing mechanisms 320-1 to 320-4 each generating a pressing force for pressing the inner surface of the cylindrical body 10 in the radial direction (hereinafter, without distinction). "Pressing mechanism 320"). The four pressing mechanisms 320 apply pressing forces to four positions on the inner surface of the cylindrical body 10 that are equally spaced apart in the circumferential direction of the cylindrical body 10. The four pressing mechanisms 310 apply pressing forces to four positions on the inner surface of the cylindrical body 10 along four radial directions extending in a cross shape around the turning axis RX.

  As shown in FIG. 6B, the four pressing mechanisms 320 include a pressing mechanism 320 that expands and contracts in the radial direction of the cylindrical body 10 and a contact portion 322 that is provided at a distal end of the pressing mechanism 320 and abuts on the inner surface of the cylindrical body 10. Have each.

  As described above, each of the two pressing portions 31 and 32 includes the four pressing mechanisms (310, 320). The four pressing positions of the cylindrical body 10 pressed by the four pressing mechanisms 310 of the pressing portion 31 and the four pressing positions of the cylindrical body 10 pressed by the four pressing mechanisms 320 of the pressing portion 32 are determined in the circumferential direction of the cylindrical body 10. Are almost the same. That is, the four pressing positions of the four pressing mechanisms 310 and the four pressing positions of the four pressing mechanisms 320 substantially overlap when viewed from a direction parallel to the turning axis RX.

  In addition to the pressing portions 31 and 32 described above, the fixing portion 3 includes four drill portions 33-1 to 33-4 each having a drill blade 331 for making a hole in the inner surface of the cylindrical body 10 (hereinafter, without distinction). "Drill part 33"). The drill portion 33 is for preventing the cut portion from dropping off the fixing portion 3 when the cut portion of the tubular body 10 is hung on the ground. The drill portion 33 makes a hole on the inner surface of the tubular body 10 with a drill blade 331 on the top side (upper side) of the tubular body 10 from the cutting position of the tubular body cutting portion 4 and fits the drill blade 331 into the hole. I do.

  The four drill portions 33-1 to 33-4 are provided corresponding to the four pressing mechanisms 310-1 to 310-4 of the pressing portion 31. That is, the drill portion 33-i (i represents an arbitrary integer from 1 to 4) corresponds to the pressing mechanism 310-i of the pressing portion 31. As shown in FIGS. 5A and 5B, the pressing mechanism 310-i corresponding to the drill portion 33-i is located on the bottom side (below the bottom) of the tubular body 10 at a position where a hole is drilled by the drill blade 331 of the drill portion 33-i. Side) and on the top side (upper side) of the tubular body 10 from the cutting position of the tubular body cutting section 4, the inner surface of the tubular body 10 is pressed.

  7A to 7C are diagrams illustrating an example of the pressing unit 31 and the drill unit 33 disposed above the tubular body cutting unit 4. FIG. 7A is a side view of the pressing portion 31 and the drill portion 33 viewed from the lateral direction, and FIGS. 7B and 7C are cross-sectional views of the pressing portion 31 and the drill portion 33 cut by a plane parallel to the rotation axis RX. Show. FIG. 7B shows a state in which the drill blade 331 of the drill unit 33 and the contact part 312 of the pressing mechanism 310 are retracted from the inner surface of the cylindrical body 10, and FIG. 7C shows that the drill blade 331 and the contact part 312 are cylindrical bodies. 10 shows a state where it has advanced toward the inner surface of FIG. As shown in FIGS. 7A to 7C, a drill part 33-i corresponding to the pressing mechanism 310-i of the pressing part 31 is installed on the telescopic arm part 311 of the pressing mechanism 310-i. Moves in the radial direction of the cylindrical body 10 in conjunction with the expansion and contraction of the body.

  8A and 8B are diagrams illustrating an example of the drill unit 33 provided above the pressing mechanism 310 of the pressing unit 31. FIG. FIG. 8A is a cross-sectional view in a state where the drill blade 331 is retracted from the inner surface of the cylindrical body 10, and FIG. 8B is a cross-sectional view in a state where the drill blade 331 is advanced toward the inner surface of the cylindrical body 10. As shown in FIG. 7A to FIG. 7C and FIG. 8A to FIG. 8B, the drill part 33-i installed on the telescopic arm part 311 of the pressing mechanism 310-i expands and contracts the telescopic arm part 311 of the pressing mechanism 310-i. There is a drill blade moving mechanism 332 that moves the drill blade 331 in a direction parallel to the direction (radial direction of the cylindrical body 10). The drill blade moving mechanism 332 moves the drill body 330 that rotationally drives the drill blade 331 together with the drill blade 331.

  The two pressing parts 31 and 32 and the four drill parts 33 constituting the fixed part 3 are installed on a common frame 30 located near the turning axis RX. When the fixing part 3 is fixed to the cylindrical body 10, the frame 30 of the fixing part 3 is fixed to the cylindrical body 10, and the swivel support 20 A connected to the frame 30 is also fixed to the cylindrical body 10. Is done. Therefore, when the turntable 5A is driven to turn with respect to the turntable support 20A, the turntable 5A turns around the center line (the turning axis RX) of the cylindrical body 10.

  9A to 9D are views showing an example of the tubular body cutting section 4. FIG. 9A is a plan view of the tubular body cutting section 4 as viewed from above. 9C to 9D show side views of the tube body cutting section 4 as viewed from the lateral direction.

  As shown in FIGS. 9A to 9D, the tubular body cutting section 4 includes four circular saws 41 as cutting tools for cutting the inner surface of the cylindrical body 10 and four circular saw support mechanisms that support these circular saws 41. 42-1 to 42-4 (hereinafter, sometimes referred to as "circular saw support mechanism 42" without distinction) and four circular saw support mechanisms 42 are provided, and are rotatable with respect to the fixed part 3. And a combined frame 40. The four circular saws 41 are supported by four circular saw support mechanisms 42 so as to cut the inner surface of the cylindrical body 10 at different positions in the circumferential direction of the cylindrical body 10.

  The frame 40 is driven to turn around the turning axis RX in a state where the fixing portion 3 is fixed to the inner surface of the tubular body 10. For example, the frame 40 is attached to the frame 30 of the fixed part 3 via a swivel bearing. By driving the turning bearing by a motor or the like provided on the frame 40 (or the frame 30), the frame 40 of the tubular body cutting section 4 turns with respect to the frame 30 of the fixing section 3.

  The four circular saw support mechanisms 42 include a circular saw moving mechanism 421 and a circular saw rotation mechanism 422, respectively, as shown in FIGS. 9A to 9D.

  The circular saw moving mechanism 421 moves the circular saw 41 in a direction approaching the inner surface of the cylindrical body 10 and in a direction away from the inner surface of the cylindrical body 10.

  The four circular saw moving mechanisms 421 provided on the four circular saw support mechanisms 42 move in the circumferential direction of the cylindrical body 10 toward four positions on the inner surface of the cylindrical body 10 separated at equal intervals, and The four circular saws 41 are moved in the direction of retreating from the four positions. Specifically, the four circular saw moving mechanisms 421 move the four circular saws 41 along four radial directions extending in a cross shape (that is, point-symmetrically) around the rotation axis RX. 9A and 9B show a state where the four circular saws 41 are retracted from the inner surface of the cylindrical body 10, and FIGS. 9C and 9D show a state where the four circular saws 41 are advanced toward the inner surface of the cylindrical body 10. Show.

  The circular saw rotation mechanism 422 rotates the circular saw 41 so that the cutting direction of the circular saw 41 is switched between the circumferential direction of the cylindrical body 10 and the longitudinal direction of the cylindrical body 10. 9A to 9C show a state in which the cutting direction of the circular saw 41 is set in the circumferential direction of the cylindrical body 10, and FIG. 9D shows a state in which the cutting direction of the circular saw 41 is set in the longitudinal direction of the cylindrical body 10. Is shown.

  As shown in FIG. 9C, when the cutting direction of each circular saw 41 is set to the circumferential direction of the cylindrical body 10 by the circular saw rotating mechanism 422, two circular saws adjacent in the circumferential direction of the cylindrical body 10 Are cut off from each other in the longitudinal direction. In the example of FIG. 9C, the cutting positions of the two circular saws 41 supported by the circular saw support mechanism 42-2 and the circular saw support mechanism 42-3, and the circular saw support mechanism 42-3 and the circular saw support mechanism 42-2. The cutting positions of the two circular saws 41 supported by 4 are all displaced in the longitudinal direction of the tubular body 10 (vertical direction in the figure). Therefore, when two circular saws 41 adjacent in the circumferential direction of the cylindrical body 10 cut the inner surface of the cylindrical body 10 in the circumferential direction, two cutting lines by the two circular saws 41 are in the longitudinal direction of the cylindrical body 10. A predetermined shift occurs. Thereby, it is possible to avoid a cutting failure due to one of the circular saws 41 of the two circular saws 41 adjacent in the circumferential direction of the cylindrical body 10 being inserted into the cutting line of the other circular saw 41.

  As shown in FIG. 9D, when the cutting direction of each circular saw 41 is set to the longitudinal direction of the cylindrical body 10 by the circular saw rotating mechanism 422, each circular saw 41 has a predetermined displacement as described above. The inner surface of the tubular body 10 can be cut so as to intersect both the cutting lines (two cutting lines formed by two circular saws 41 adjacent in the circumferential direction). Accordingly, it is possible to connect the four cutting lines extending in the circumferential direction and the four cutting lines extending in the longitudinal direction, and it is possible to cut the inner circumference of the cylindrical body 10 over the entire circumference.

  As shown in FIG. 9C, two circular saws 42 adjacent to each other across one circular saw 41 in the circumferential direction of the cylindrical body 10 (in the example of FIG. 9C, a circular saw support mechanism 42-2 and a circular saw support mechanism). The two circular saws 41) supported by 42-4 have the same cutting position in the longitudinal direction when the inner surface of the cylindrical body 10 is cut in the circumferential direction.

[Dismantling device 2B]
The disassembling apparatus 2B shown in FIGS. 3A to 3C has a fixed body 3 fixed to the cylindrical body 10 by pressing the inner surface of the cylindrical body 10 and a cylindrical body cutting tool having a cutting tool that can rotate with respect to the fixed part 3. Part 4, an outer structure cutting part 6 </ b> B that grips and cuts the main pillar 13 of the steel tower 12, and is located outside the tubular body 10, is rotatable with respect to the fixed part 3, and is an outer structure cutting part 6 </ b> B. And a revolving base 5B suspended. 2A and 2B and 3A to 3C represent the same components. That is, the fixing unit 3 and the tubular body cutting unit 4 are the same as those of the dismantling device 2A described above. Here, the description will focus on the components that are different from the dismantling device 2A.

  As shown in FIGS. 3A and 3B, the swivel base 5B includes four beam portions 52-1 to 52-4 extending in a direction perpendicular to the pivot axis RX (hereinafter, referred to as “beam portions 52” without distinction). In some cases). The revolving base 5B has a rotationally symmetrical shape with the revolving axis RX as a symmetry axis as a whole, and four beam portions 52 are provided in a cross shape about the revolving axis RX. In the example of the figure, the cross-sectional shape of the beam portion 52 perpendicular to the pivot axis RX is rectangular, and the width in the vertical direction continuously decreases as the distance from the pivot axis RX increases. As shown in FIG. 3B, the central portion of the revolving base 5B is substantially a regular octagon when viewed from a direction horizontal to the revolving axis RX. On the upper surface of the central part, four connecting tools (hanging metal fittings) 504 for connecting metal fittings of the hanging rope are provided. Also. A control panel 511 containing various control devices (computers and the like) and a control panel 507 used as a power source for motors and control devices are installed near the center of the turntable 5B. A swivel support 20B is attached to the lower surface of the center of the swivel 5B. The revolving base 5B is rotatably combined with the frame 30 of the fixed part 3 via a cylindrical revolving base support 20B extending along the revolving axis RX. The swivel support 20B is, for example, fixed to the frame 30 of the fixed part 3 with bolts or the like, and is rotatably attached to the swivel 5B via a swivel bearing or the like. By driving the swivel bearing by a motor or the like (not shown) provided on the swivel base 5B, the swivel base 5B turns with respect to the fixed part 3.

  Each of the four beam portions 52 has a movable hanging portion 53. The movable hanging part 53 is movably attached to the lower surface of the frame of the beam part 52, and is driven in a direction of moving forward and backward with respect to the pivot axis RX. The outer structure cutting portions 6B are suspended from the movable suspension portions 53 of the four beam portions 52, respectively. When the movable hanging part 53 moves, the outer structure cutting part 6B moves horizontally in the radial direction about the turning axis RX.

  FIGS. 10A and 10B are views showing an example of the outer structure cutting portion 6B used for cutting the main pillar 13. FIG. 10A shows a perspective view seen from the front side, and FIG. 10B shows a perspective view seen from the back side. The outer structure cutting portion 6B is a column member cutting device that cuts a cylindrical column member, and includes two grip portions 71-1 and 71-2 (hereinafter, “grip portions”) that grip a column member (main column 13) to be cut. , May be referred to as “grip part 71” without distinction), a cutting part 72 for cutting the column member, and a clamp part 70 for fitting two drill blades 791 so as to sandwich the column member. In a state of being suspended by the movable hanging part 53 of the beam part 52, the clamp part 70, the grip part 71-1, the cutting part 72, and the grip part 71-2 are arranged in order from the top.

  On the top surface of the uppermost clamp portion 70, two connecting tools 701A used for connection with the two ropes 21 connected to the moving hanging portion 53, and the other connecting portions connected to the moving hanging portion 53. And a connection tool 701B used for connection with one of the ropes 21. The connector 701B is connected to the rope 21 via a length control unit 22 that can change the length in the vertical direction. By changing the length of the length control unit 22, the outer structure cutting unit 6B can be turned around the straight line L1 passing through the two connectors 701A, and the posture of the outer structure cutting unit 6B can be adjusted. .

  The clamp part 70 has two drill parts 73 each having a drill bit 791. The drill portion 73 is for preventing the cut portion from falling off when the cut portion of the column member (main column 13) is suspended from the ground. The drill portion 73 makes a hole in the column member with a drill blade 791 and fits the drill blade 791 into the hole.

  The grip portion 71 includes a mechanism that grips the column member with a center line passing through the center of a cross section perpendicular to the longitudinal direction of the column member (main column 13) along a predetermined turning center line RL. 11A and 11B are diagrams showing an example of a mechanism for gripping the column member in the gripping portion 71 of the outer structure cutting portion 6B, and show plan views as seen from directions parallel to the turning center line RL. FIG. 11A shows a state where the pillar member (main pillar 13) is not gripped, and FIG. 11B shows a state where the pillar member is gripped. In the example of FIGS. 11A and 11B, the gripping portion 71 includes a fixed piece 783 for positioning the pillar member, two movable pieces 781-1 and 781-2 sandwiching the pillar member, and two movable pieces 781-1 and 781. -2, which drive two actuators 780-1 and 780-2.

  The fixing piece 783 has a curved surface that comes into contact with the outer peripheral surface of the column member, and is fixed to the housing of the grip portion 71. By bringing the column member into contact with the curved surface of the fixing piece 783, the center line of the column member is substantially aligned with the turning center line RL. The two movable pieces 781-1 and 781-2 are arranged so as to face each other with the column member in contact with the fixed piece 783 sandwiched from both sides. The movable piece 781-1 is rotatably supported on a rotation shaft 784-1 provided on the housing of the grip 71, and the movable piece 781-2 is rotated on the housing of the grip 71. It is rotatably supported on a shaft 784-2. Each of the actuators 780-1 and 780-2 includes a cylinder that expands and contracts. One end of the actuator 780-1 is rotatably supported on a rotation shaft 785-1 provided on the housing of the grip portion 71, and the other end of the actuator 780-1 is connected to a movable piece 781 by a connecting portion 782-1. -1 and rotatably connected. One end of the actuator 780-2 is rotatably supported on a rotating shaft 785-2 provided on the housing of the grip portion 71, and the other end of the actuator 780-2 is connected to a movable piece 781 by a connecting portion 782-2. -2 so as to be rotatable.

  When the length of the actuator 780-1 increases, the movable piece 781-1 rotates around the rotation shaft 784-1, and the outer surface of the movable piece 781-1 on the fixed piece 783 side moves toward the fixed piece 783. Then, it comes into contact with the column member positioned on the fixing piece 783. When the length of the actuator 780-2 increases, the movable piece 781-2 rotates around the rotation shaft 784-2, and the outer surface of the movable piece 781-2 on the fixed piece 783 side faces the fixed piece 783. , And comes into contact with the column member positioned on the fixing piece 783. Therefore, when the lengths of the actuators 780-1 and 780-2 are increased, the column member is held between the two movable pieces 781-1 and 781-2. Conversely, when the lengths of the actuators 780-1 and 780-2 are reduced, the two movable pieces 781-1 and 781-2 are separated from the column member, and the grip of the column member is released.

  FIGS. 12A to 12B and FIGS. 13A to 13B are views showing an example of a mechanism for cutting the pillar member (main pillar 13) at the cutting portion 72 of the outer structure cutting portion 6B, and each is parallel to the turning center line RL. FIG. 2 shows a plan view seen from various directions. In these figures, the cutting section 72 includes a first circular saw 710-1 and a second circular saw 710-2 that cut the outer surface of the column member gripped by the gripping section 71 in the circumferential direction, and a first circular saw 710-. And a circular saw turning mechanism 720 for turning the first and second circular saws 710-2.

  The circular saw turning mechanism 720 moves the first circular saw 710-1 so that the cutting position by the first circular saw 710-1 and the cutting position by the second circular saw 710-2 move on the outer surface of the column member in the circumferential direction. And the second circular saw 710-2 is turned around the turning center line RL. 12A and 12B show a state where the turning positions of the first circular saw 710-1 and the second circular saw 710-2 are at the standard position, and FIGS. 13A and 13B show the first circular saw with respect to the standard position. A state where the saw 710-1 and the second circular saw 710-2 are turned in different directions is shown.

  More specifically, the circular saw turning mechanism 720 includes a turning base 760 that turns around the turning center line RL and a first circular saw rotation that rotates the first circular saw 710-1 on the first rotation shaft 731-1. It has a mechanism 730-1 and a second circular saw rotating mechanism 730-2 for rotating the second circular saw 710-2 on the second rotation shaft 731-2. The first circular saw rotating mechanism 730-1 and the second circular saw rotating mechanism 730-2 are respectively provided on the revolving base 760, and the revolving center line together with the first circular saw 710-1 and the second circular saw 710-2. Turn around the RL.

  In addition, the circular saw turning mechanism 720 includes a first circular saw moving mechanism 740-1 for moving the position of the first rotation shaft 731-1 of the first circular saw 710-1 and a second rotation of the second circular saw 710-2. A second circular saw moving mechanism 740-2 for moving the position of the shaft 731-2. FIG. 12A shows a state where the first rotation shaft 731-1 and the second rotation shaft 731-2 are separated from the turning center line RL. FIGS. 12B, 13A and 13B show the first rotation shaft 731-1 and the second rotation shaft 731-2. The state where the two rotation shafts 731-2 approach the turning center line RL is shown.

The first circular saw moving mechanism 740-1 keeps the first rotation axis 731-1 of the first circular saw 710-1 parallel to the rotation center line RL, while keeping the first rotation axis 731-1 and the rotation center line. The distance from the RL is changed. Specifically, the first circular saw moving mechanism 740-1 rotates the first circular saw 741 around a first rotation axis 741-1 parallel to the first rotation axis 731-1 and away from the first rotation axis 731-1. By rotating the rotation mechanism 730-1, the distance between the first rotation shaft 731-1 and the rotation center line RL is changed.
Similarly, the second circular saw moving mechanism 740-2 keeps the second rotary shaft 731-2 of the second circular saw 710-2 parallel to the turning center line RL, and connects the second rotary shaft 731-2 with the second rotary shaft 731-2. The distance from the turning center line RL is changed. Specifically, the second circular saw moving mechanism 740-2 moves the second circular saw around a second rotation axis 741-2 parallel to the second rotation axis 731-2 and away from the second rotation axis 731-2. By rotating the rotation mechanism 730-2, the distance between the second rotation shaft 731-2 and the rotation center line RL is changed.

  FIG. 14 is a diagram illustrating a mechanism for turning the turning base 760 at the cutting portion 72 of the outer structure cutting portion 6B. The turning base 760 has a horseshoe shape when viewed from a direction parallel to the turning center line RL, for example, as shown in FIG. The first turning shaft 741-1 is rotatably supported at one end of the horseshoe shape by the turning base 760, and the second turning shaft 741-2 is rotatable at the other end of the horseshoe shape by the turning base 760. Supported by

  As shown in FIG. 14, guide frames 703-1 and 703-2 are arranged on the horseshoe-shaped concave side of the turning base 760. The guide frames 703-1 and 703-2 are curved along the concave outer edge of the turning base 760, and guide the trajectory when the turning base 760 turns around the turning center line RL.

  As shown in FIG. 14, the circular saw turning mechanism 720 has a gear 750 that is driven to rotate when the turning base 760 turns. The gear 750 is supported by the frame 700, and meshes with a rack 761 provided on the horseshoe-shaped convex outer edge of the turning base 760. Since the frame 700 is fixed to the holding portion 71, when the gear 750 rotates, the turning base 760 turns with respect to the column member held by the holding portion 71.

  In FIG. 14, “704-1” indicates a motor that drives the first circular saw 710-1 in the first circular saw rotation mechanism 730-1, and “704-2” indicates the second circular saw rotation. The motor for rotating the second circular saw 710-2 in the mechanism 730-2 is shown. “705-1” indicates a motor that drives the first turning shaft 741-1 in the first circular saw moving mechanism 740-1, and “705-2” indicates a second circular saw moving mechanism 740-2. Shows a motor that rotationally drives the second turning shaft 741-2.

  15A and 15B are diagrams illustrating a main part of the cutting portion 72 of the outer structure cutting portion 6B. FIG. 15A is a perspective view showing a left half of the center of the plan view shown in FIG. 12A cut in a vertical direction. FIG. 15B is a perspective view showing a part of the right half opposite to the left half shown in FIG. 15A. As shown in FIGS. 15A and 15B, the first circular saw 710-1 and the second circular saw 710-2 are respectively housed in an inner case 709, and the inner case 709 is further housed in an outer case 708. . When cutting the column member, the inner case 709 goes out of the outer case 708, and the blades of the circular saws (710-1, 701-2) exposed from the inner case 709 cut the column member.

  Further, as shown in FIGS. 15A and 15B, the circular saw turning mechanism 720 moves the cutting position of the first circular saw 710-1 and the cutting position of the second circular saw 710-2 in a direction parallel to the turning center line RL. A cutting position adjusting mechanism 770 for adjusting the relative positional relationship is provided. Specifically, the cutting position adjusting mechanism 770 moves the first circular saw rotating mechanism 730-1 relative to the turning base 760 in a direction parallel to the turning center line RL (FIG. 15A), and And a second moving mechanism 772 (FIG. 15B) for moving the second circular saw rotating mechanism 730-2 relative to the turning base 760 in a direction parallel to the turning center line RL. The first moving mechanism 771 moves the first circular saw rotating mechanism 730-1 along the first turning shaft 741-1, and the second moving mechanism 772 moves the second circular saw rotating mechanism 730-2 to the second turning. Move along axis 741-2. The first moving mechanism 771 raises and lowers the first circular saw rotating mechanism 730-1 by the power of the motor 706-1 shown in FIG. 14, and the second moving mechanism 772 uses the power of the motor 706-2 shown in FIG. The 2 circular saw rotating mechanism 730-2 is moved up and down. Note that the cutting position adjusting mechanism 770 may include only one of the first moving mechanism 771 and the second moving mechanism 772.

  16A to 16C are diagrams illustrating the operation of the first moving mechanism 771 of the cutting position adjusting mechanism 770, and are cross-sectional views taken along line XVI-XVI in FIG. 15A. FIG. 16A shows a state where the first circular saw rotating mechanism 730-1 is at the standard position, and FIG. 16B shows a state where the first circular saw rotating mechanism 730-1 is at a position raised above the standard position. 16C shows a state in which the first circular saw rotating mechanism 730-1 is at a position lower than the standard position. The cutting position adjusting mechanism 770 is provided with, for example, a position sensor 712 as shown in FIGS. 16A to 16C, and the position of the first circular saw rotating mechanism 730-1 (that is, the first circular saw rotating mechanism 730-1) according to the detection result of the position sensor 712. Fine adjustment of the cutting position of one circular saw 710-1) is possible.

[Dismantling device 2C]
The disassembling apparatus 2C shown in FIGS. 4A to 4C includes a fixed body 3 fixed to the cylindrical body 10 by pressing the inner surface of the cylindrical body 10 and a cutting body having a cutting tool that can rotate with respect to the fixed part 3. Part 4, an outer structure cutting part 6C that grips and cuts the diagonal member 14 of the steel tower 12, and an outer structure cutting part 6B that is located outside the tubular body 10 and that can pivot with respect to the fixed part 3. And a revolving base 5B suspended. The same reference numerals in FIGS. 3A to 3B and 4A to 4C represent the same components. That is, the dismantling device 2C is obtained by replacing the outer structure cutting portion 6B in the dismantling device 2B with the outer structure cutting portion 6C, and the other configuration is the same as the dismantling device 2C. Therefore, here, the outer structure cutting portion 6C will be mainly described.

  FIGS. 17A and 17B are diagrams illustrating an example of the outer structure cutting portion 6C used for cutting the diagonal member 14. FIG. 17A shows a perspective view seen from the front side, and FIG. 17B shows a perspective view seen from the back side. The outer structure cutting portion 6C is a column member cutting device for cutting a cylindrical column member, and is configured to be able to pivot with respect to the first support portion 84 connected to the three ropes 21 and the first support portion 84. The combined second support portion 85, grip portions 81-1 to 81-4 fixed to the second support portion 85 and gripping the column member (diagonal member 14), and fixed to the second support portion 85, It has cutting portions 82-1 and 82-2 for cutting members, and a clamp portion 80 for fitting two drill blades 891 so as to sandwich the column member. In a state of being suspended by the movable hanging part 53 of the beam part 52, the gripping part 81-1, the cutting part 82-1, the gripping part 81-2, the clamp part 80, the gripping part 81-3, the cutting part are arranged in order from the top. 82-2 and a gripper 81-4 are arranged.

  The clamp section 80 has two drill sections 83 each having a drill blade 891. The drill portion 83 is for preventing the cut portion from falling off when the cut portion of the column member (the diagonal member 14) is hung on the ground. The drill portion 83 makes a hole in the pillar member with a drill blade 891, and fits the drill blade 891 into the hole.

  The mechanism for gripping the pillar members in the gripping portions 81-1 to 81-4 is the same as the gripping portion 71 (FIGS. 11A to 11B) described above. Further, the mechanism for cutting the column member in the cutting portions 82-1 and 82-2 includes the cutting portion 72 (FIGS. 12A to 12B, 13A to 13B, FIG. 14, FIGS. 15A to 15B, and FIG. 16C).

  The first support portion 84 is a rectangular parallelepiped frame in the examples of FIGS. 17A and 17B. On the side surface of the first support portion 84, a second support portion 85 is attached so as to be pivotable with respect to the first support portion 84. As shown in FIG. 17B, the second support portion 85 is attached to the first support portion 84 via a first turning mechanism 86 including a turning bearing and the like. The second support portion 85 turns around the turning axis AX1 with respect to the first support portion 84 by the turning drive of the first turning mechanism 86.

  A hanging balance 88 is attached to the top surface of the first support 84 so as to be pivotable with respect to the first support 84. As shown in FIG. 17B, the hanging balance 88 is attached to the first support portion 84 via a second turning mechanism 87 including a turning bearing and the like. The hanging balance 88 is turned around the turning axis AX <b> 2 with respect to the first support portion 84 by the turning drive of the second turning mechanism 87.

  The hanging balance 88 is connected to two connecting members 801A used to connect the two ropes 21 connected to the moving hanging portion 53 and another one of the ropes 21 connected to the moving hanging portion 53. And a connector 801 </ b> B used for the above. The connecting tool 801B is connected to the rope 21 via a length control unit 22 capable of changing the length in the vertical direction. By changing the length of the length control unit 22, the suspension balance 88 can be turned around a straight line L2 passing through the two coupling tools 801A, and thereby the attitude of the outer structure cutting unit 6C can be adjusted.

  As shown in FIG. 17A, a straight line L2 that becomes a turning axis by changing the length of the length control unit 22, a turning axis AX1 that is driven by turning the first turning mechanism 86, and a turning axis that is driven by turning the second turning mechanism 87. AX2 are perpendicular to each other. That is, the turning angles of the second support portion 85 around the three axes (L2, AX1, AX2) perpendicular to each other can be adjusted. Therefore, by controlling the length control unit 22, the first turning mechanism 86, and the second turning mechanism 87, respectively, the posture of the outer structure cutting unit 6C is set to an appropriate posture according to the diagonal member 14 to be cut. be able to.

(Dismantling procedure by dismantling device 2A)
Here, a procedure for removing the tubular body 10 and the accompanying objects (the ladder 15, the back cage 16, the electric conduit 17, etc.) from the tubular structure 1 using the above-described dismantling apparatus 2A will be described.

  FIGS. 18A and 18B are views illustrating the operation of installing the dismantling device 2A used for removing the cylindrical body 10 and incidental objects on the cylindrical body 10. First, as shown in FIG. 18A, the disassembling device 2A is lifted using the crane 90, and the fixing unit 3 and the tube cutting unit 4 are positioned inside the tube 10, and the swivel base 5A is positioned outside the tube 10. Let it.

  Next, as shown in FIG. 18B, the fixing portion 3 is pressed against the inner surface of the tubular body 10 to fix the fixed portion 3 to the tubular body 10. That is, a pressing force is applied to the inner surface of the cylindrical body 10 by each of the pressing mechanisms 310 of the pressing portion 31 and each of the pressing mechanisms 320 of the pressing portion 32, and the drill blade 331 of each of the drill portions 33 is drilled in the inner surface of the cylindrical body 10. To fit.

  Next, on the outside of the cylindrical body 10, the gripping robot arm 61 and the cutting robot arm 62 of the outer structure cutting section 6A are brought closer to the target portion of the accessory. That is, the turning table 5A is turned around the turning axis RX so that the outer structure cutting portion 6A approaches the target portion of the incidental object.

  When the outer structure cutting portion 6A approaches the target portion of the accessory, the target portion is gripped by the gripping robot arm 61, and the gripped target portion is cut by the cutting robot arm 62 from another portion of the accessory.

  FIGS. 19A to 19C are diagrams illustrating an operation of cutting an accessory on the outside of the cylindrical body 10 by the outer structure cutting portion 6A. FIG. 19A shows a state in which the target portion of the accessory is gripped and cut by the gripping robot arm 61 and the cutting robot arm 62 of the outer structure cutting section 6A. FIG. 19B is a view of the state shown in FIG. 19A as viewed from another angle. FIG. 19C is a diagram illustrating an example of the ladder 15, the back cage 16, and the conduit tube 17 as accessory items.

20A and 20B are diagrams illustrating an operation of fixing the conduit tube 17 to the ladder 15 or the like using the robot arm.
When the conduit 17 is cut, the conduit 17 may hang down from the cut portion, which may hinder the removal. Therefore, the cut conduit tube 17 is fixed to the ladder 15 or the like by the gripping robot arm 61 using a clamp device 601 as shown in FIG. 20B. The holder 602 is equipped with a wire rope 603 configured to be wound in a spiral manner, and a plurality of clamping devices 601 are connected by such a wire rope 603. One of the plurality of clamp devices 601 connected to the holder 602 is attached to the ladder 15 or the like, and the other clamp device 601 is attached to the cut conduit 17. Accordingly, the conduits 17 to which the clamp devices 601 are attached are each connected to the ladder 15 or the like by the wire rope 603, and a state in which the conduits 17 hang down and hinder removal can be avoided.

  On the other hand, inside the cylindrical body 10, in a state where the fixing portion 3 is fixed to the cylindrical body 10, the cutting tool (circular saw 41) of the cylindrical body cutting section 4 is turned around the turning axis RX to Cut the inner surface in the circumferential direction.

  FIGS. 21A to 21D are diagrams illustrating the operation of cutting the inner surface of the cylindrical body 10 in the circumferential direction by the cylindrical body cutting section 4. FIG. 21A shows a state where the inner surface 101 of the tubular body 10 is being pressed by the pressing mechanisms 310 and 320 of the fixing unit 3. FIG. 21B shows a state where the drill blade 331 of the drill portion 33 is further inserted into the inner surface 101 of the tubular body 10 in the pressed state shown in FIG. 21A. After the fixing portion 3 is fixed to the cylindrical body 10, the cutting direction of the inner surface 101 by the four circular saws 41 is set in the circumferential direction, and the position of two circular saws 41 adjacent in the circumferential direction is the cylindrical body 10. In a state of being shifted from each other in the longitudinal direction, four circular saws 41 are applied to the inner surface 101 of the cylindrical body 10 as shown in FIG. 21C. Then, as shown in FIG. 21D, the inner surface 101 is cut in the circumferential direction by turning the four circular saws 41 applied to the inner surface 101 in the circumferential direction of the cylindrical body 10.

FIGS. 22A to 22D are diagrams illustrating an operation of cutting the inner surface 101 of the cylindrical body 10 in the longitudinal direction after cutting the inner surface 101 of the cylindrical body 10 in the circumferential direction.
As shown in FIG. 21D, when the circumferential cutting of the inner surface 101 is advanced while rotating the four circular saws 41, four cutting lines by the four circular saws 41 are generated. Since the positions of two circular saws 41 adjacent in the circumferential direction are alternate with each other in the longitudinal direction as shown in FIGS. 9C and 21C, two cutting lines adjacent in the circumferential direction are shifted from each other in the longitudinal direction. Therefore, the inner surface 101 is formed by the four circular saws 41 until both ends of the four cutting lines overlap with the ends of the other cutting lines in the circumferential direction (until the turning angles of the four circular saws 41 exceed approximately 45 °). Then, the four circular saws 41 are separated from the inner surface 101 as shown in FIGS. 22A and 22B. Then, the cutting direction by the four circular saws 41 is switched from the circumferential direction to the longitudinal direction.

  After switching the cutting direction of the four circular saws 41 to the longitudinal direction, the four circular saws are applied to the inner surface 101 as shown in FIGS. 22C and 22D. At this time, the inner surface 101 is cut in the longitudinal direction such that each of the four circular saws 41 intersects the ends of the two cutting lines shifted in the longitudinal direction. As a result, the four cutting lines staggered in the longitudinal direction are connected by the four cutting lines in the longitudinal direction, so that the inner surface 101 of the cylindrical body 10 is cut over the entire circumference in the circumferential direction.

  When the cylindrical body 10 is cut all around, as shown in FIG. 23, the pressing by the lower pressing portion 32 is released while the pressing by the upper pressing portion 31 is maintained. Thus, the fixed portion 3 can be separated from the remaining portion (lower portion) of the tubular body 10 while the cut portion (upper portion) of the tubular body 10 is fixed to the fixed portion 3. In this state, the dismantling device 2 </ b> A is lifted by the crane 90, and the cut portion of the tubular body 10 and the incidental object is removed from the tubular structure 1.

(Dismantling procedure by dismantling device 2C)
Next, a procedure for removing the tubular body 10 and the diagonal member 14 from the tubular structure 1 using the above-described dismantling device 2C will be described.

  FIGS. 24A and 24B are diagrams illustrating the operation of installing the dismantling device 2 </ b> C used for removing the cylindrical body 10 and the diagonal member 14 on the cylindrical body 10. As shown in this figure, also in the dismantling device 2C, the fixing portion 3 and the tube cutting portion 4 are located inside the tube 10, and the revolving base 5B is located outside the tube 10. The procedure for fixing the fixing portion 3 to the tubular body 10 and the procedure for cutting the tubular body 10 by the tubular body cutting section 4 are substantially the same as those for the dismantling device 2A.

  FIGS. 25A to 25C are diagrams illustrating an operation of controlling the position and the posture of the outer structure cutting section 6C. As shown in FIG. 25A, the outer structure cutting unit 6C can freely change its posture by changing the length of the length control unit 22 and the turning angles of the first turning mechanism 86 and the second turning mechanism 87. Can be adjusted. Therefore, the length of the length control unit 22 and the first turning mechanism 86 and the second turning mechanism 87 are set so that the position of the outer structure cutting unit 6C becomes a position suitable for gripping the diagonal member 14 to be cut. The turning angle of each is set.

  Further, the turning angle of the turntable 5B is controlled so that the four outer structure cutting portions 6C approach the diagonal members 14 to be cut, respectively (FIG. 25B), and the movable hanging portions 53 of the beam portions 52 are turned. Move toward RX (FIG. 25C).

  26A to 26F are diagrams illustrating the operation of gripping and clamping the diagonal member 14 in the outer structure cutting portion 6C. When the posture of the outer structure cutting portion 6C and the turning angle of the turntable 5B are appropriately set, and the movable hanging portion 53 is moved toward the turning axis RX as shown in FIG. Thus, the diagonal member 14 is introduced near the turning center line RL of the outer structure cutting portion 6C. In a state where the diagonal member 14 is introduced near the turning center line RL as shown in FIG. 26B, the grippers 81-1 to 81-4 are operated to grip the diagonal member 14 as shown in FIG. As shown in FIG. 27D, the clamp 80 is operated to fit the drill blade 891 into the oblique member 14. As a result, as shown in FIGS. 26E and 26F, the center line of the diagonal member 14 is fixed along the turning center line RL of the outer structure cutting portion 6C.

  FIGS. 27A to 27D are diagrams illustrating the operation of cutting the diagonal member 14 at the cutting portions 82-1 and 82-2 of the outer structure cutting portion 6C. After the diagonal member 14 is gripped as shown in FIG. 27A, the first circular saw moving mechanism 740-1 and the second circular saw moving mechanism 740-2 are operated as shown in FIG. -1 and the second circular saw 710-2 are moved toward the oblique member 14. Then, as shown in FIGS. 27C and 27D, the first circular saw 710-1 and the second circular saw 710-2 are turned around the turning center line RL to cut the outer side of the diagonal member 14 over the entire circumference. I do.

  The cutting by the first circular saw 710-1 and the second circular saw 710-2 is performed separately. When cutting with one circular saw first and then cutting with the other circular saw, adjust the cutting position of the subsequent circular saw so that it is approximately the position of the cutting line by the previous circular saw Adjusted by mechanism 770. Further, even if the cutting position is shifted with respect to the cutting line by the previous circular saw while the cutting by the subsequent circular saw is proceeding, the cutting position of the subsequent circular saw is adjusted by the cutting position adjusting mechanism 770. Adjust by. As a result, the load when a subsequent circular saw is inserted into the cutting line of the previous circular saw is reduced, and cutting defects are less likely to occur.

  After the diagonal member 14 is cut by the outer structure cutting part 6C in this manner, the fixing of the fixing part 3 is released and the dismantling device 2A is lifted while the diagonal member 14 is gripped by the outer structure cutting part 6C. Then, the diagonal members 14 are removed from the tubular structure 1. At this time, the cut portion of the tubular body 10 by the tubular body cutting section 4 is removed from the tubular structure 1 together with the diagonal members 14.

(Dismantling procedure by dismantling device 2B)
Next, a procedure for removing the tubular body 10 and the main pillar 13 from the tubular structure 1 using the above-described dismantling device 2B will be described.

  FIGS. 28A to 28B are diagrams illustrating an operation of disassembling the disassembly device 2B used for removing the cylindrical body 10 and the main column 13 on the cylindrical body, and bringing the outer structure cutting portion 6B closer to the main column 13. As shown in this figure, also in the dismantling device 2B, similarly to the dismantling device 2C, the fixing portion 3 and the tube cutting portion 4 are positioned inside the tube 10, and the swivel base 5B is placed outside the tube 10. Position. The procedure for fixing the fixing portion 3 to the tubular body 10 and the procedure for cutting the tubular body 10 by the tubular body cutting section 4 are substantially the same as those for the dismantling device 2A.

  The posture (the turning angle around the straight line L1 shown in FIG. 10A) of the outer structure cutting section 6B that cuts the main pillar 13 can be adjusted by changing the length of the length control section 22. Therefore, the length of the length control unit 22 is set so that the posture of the outer structure cutting unit 6B becomes a posture suitable for gripping the main column 13 to be cut. Further, the turning angle of the turntable 5B is controlled so that the four outer structure cutting portions 6B approach the main pillar 13 to be cut, respectively (FIG. 28A), and the movable hanging portions 53 of the beam portions 52 are turned. Move toward RX (FIG. 28B). The operation of holding and cutting the main pillar 13 in the outer structure cutting portion 6B includes the operation of holding and cutting the diagonal member 14 in the outer structure cutting portion 6C (FIGS. 26A to 26F and FIGS. 27A to 27D). Generally the same.

  29A to 29C are diagrams illustrating an operation of cutting the main pillar 13 at the outer structure cutting portion 6B and collectively removing the cut portions of the tubular body 10 and the steel tower 12. As shown in FIG. 29A, after the main pillar 13 is gripped by the outer structure cutting part 6B, as shown in FIG. 29B, the gripped main pillar 13 is cut by the outer structure cutting part 6B. Then, in a state where the cut main pillars 13 are gripped by the four outer structure cutting portions 6B, respectively, and in a state where the cut portion of the tubular body 10 by the tubular body cutting portion 4 is fixed to the pressing portion 31, the pressing portion 32 is used. The fixing to the remaining cylindrical body 10 is released, and the dismantling device 2B is lifted by the crane 90. Thereby, as shown in FIG. 29C, the cut portions of the tubular body 10 and the main pillar 13 are collectively removed from the tubular structure 1.

(Summary)
According to the present embodiment, the fixed portion 3 is fixed to the tubular body 10 by pressing the inner surface of the tubular body 10, and the tubular cutting portion 4 and the tubular cutting portion 4, which are rotatably combined with the fixed portion 3, The swivel (5A, 5B) can be swiveled around a swivel axis RX along the center line of the barrel 10. When the tubular body cutting section 4 rotates with respect to the fixed section 3, the circular saw 41 of the tubular body cutting section 4 cuts the inner surface of the tubular body 10 in the circumferential direction. Further, when the swivel base (5A, 5B) turns with respect to the fixed part 3, the outer structure cutting part (6A to 6C) fixed or hung on the swivel base (5A, 5B) causes the outer structure to be cut. The outer structure 11 to be cut is gripped and cut by the outer structure cutting sections (6A to 6C) in this state. Therefore, it is possible to cut the tubular body 10 and the outer structure 11 without placing an operator on the upper part of the tubular structure 1. Further, by hanging the fixed part 3 on the ground with a crane or the like, the cut part of the tubular body 10 fixed to the fixed part 3 or the outer structure 11 gripped by the outer structure cut parts (6A to 6C) is removed. The cut can be hung on the ground.

  According to the present embodiment, as shown in FIGS. 2A to 2B, 3A to 3C, 4A to 4C, and the like, at least one beam portion (51, 52) is provided on the swivel (5A, 5B), and the outer structure cutting portions (6B, 6C) are suspended from the beams (51, 52). Therefore, the outer structure cutting portions (6B, 6C) can be arranged at appropriate positions below the beam portions (51, 52) while suppressing the weight of the swivel tables (5A, 5B).

  According to the present embodiment, as shown in FIG. 3A to FIG. 3C and FIG. 4A to FIG. 4C, each of the four beam portions 52 provided in a cross shape around the turning axis RX has an outer structure cutting portion ( 6B, 6C), the center of gravity is easily located near the center of the four beam portions 52 provided in a cross shape, and the posture of the turning axis RX along the center line of the cylindrical body 10 is stable. It is easy to be kept.

  According to the present embodiment, as shown in FIGS. 3A to 3C, 4A to 4C, and the like, the movable hanging portion 53 driven in the forward and backward directions with respect to the pivot axis RX includes the beam portion 52. , And the outer structure cutting portions (6B, 6C) are suspended from the movable suspension portion 53. By moving the movable hanging part 53, the distance of the outer structure cutting part (6B, 6C) with respect to the pivot axis RX can be changed, so that the outer structure cutting part (6B, 6C) with respect to the outer structure 11 to be cut. Position can be easily set appropriately.

  According to this embodiment, as shown in FIGS. 10A to 10B and FIGS. 17A to 17B, at least one of the three ropes 21 connected to the outer structure cutting portions (6 </ b> B, 6 </ b> C) and the beam portion 52. Each has a length control unit 22 inserted therein, and the length of the length control unit 22 in the vertical direction can be changed. By changing the length of the length control unit 22 in the vertical direction, it is possible to control the attitude of the outer structure cutting unit (6B, 6C). It is easy to appropriately set the posture of the cutting sections (6B, 6C).

  According to the present embodiment, as shown in FIGS. 17A and 17B, two ropes 21 are connected to the first support portion 84 of the outer structure cutting portion 6C by two connecting tools 801A. The length control unit 22 is inserted into a rope 21 other than the rope 21 of FIG. Therefore, when the length of the length control unit 22 in the vertical direction is changed, the first support unit 84 turns around the straight line L2 passing through the two coupling tools 801A. Further, when the second support portion 85 is driven to turn with respect to the first support portion 84, the second support portion 85 turns around a turning axis AX1 perpendicular to a straight line L2 passing through the two coupling tools 801A. That is, by independently changing the length of the length control unit 22 and turning the second support unit 85, the grip units 81-1 to 81-4 fixed to the second support unit 85 and the cutting operation are performed. The parts 82-1 to 82-2 can be independently pivoted about axes (L2, AX1) perpendicular to each other. Therefore, it is easy to more appropriately set the posture of the outer structure cutting portion 6C with respect to the outer structure 11 to be cut.

  According to this embodiment, as shown in FIGS. 10A to 10B and FIGS. 17A to 17B, the drill blade (791) of the drill portion (73, 83) provided in the outer structure cutting portion (6B, 6C). , 891), a hole is formed in the outer structure 11 (main pillar 13, diagonal member 14), and a drill bit (791, 891) fits into the hole. Therefore, when the dismantling device (2A, 2C) is suspended by a crane or the like, the cut portion of the outer structure 11 cut by the outer structure cutting portion (6B, 6C) is replaced with the outer structure cutting portion (6B, 6C). ) Can hardly fall off.

  According to the present embodiment, as shown in FIGS. 2A and 2B, the cylindrical structure 1 has a simple configuration in which the gripping robot arm 61 and the cutting robot arm 62 are fixed to the beam 51 of the swivel 5A. Relatively small incidental objects (ladder 15, back cage 16, electric conduit 17, etc.) in the outer structure 11 can be efficiently cut and collected.

  According to the present embodiment, as shown in FIGS. 6A and 6B, the plurality of pressing mechanisms (310, 320) that generate the pressing force for pressing the inner surface of the cylindrical body 10 in the radial direction, respectively, press the fixing portion 3. The pressing force is applied by the pressing mechanisms (310, 320) to the inner surface of the cylindrical body 10 at a plurality of positions spaced at equal intervals in the circumferential direction. Thereby, since a plurality of positions on the inner surface of the cylindrical body 10 are pressed with substantially uniform pressing force, the fixing portion 3 can be stably fixed to the cylindrical body 10.

  According to the present embodiment, as shown in FIGS. 7A to 7C, a hole is formed in the inner surface of the tubular body 10 by the drill blade 331 of the drill unit 33 provided in the fixing unit 3, and the drill blade 331 is formed in the hole. Get stuck. Therefore, when the dismantling device (2A, 2C) is hung down by a crane or the like, it is possible to make it difficult for the cut portion of the tubular body 10 cut by the tubular body cutting portion 4 to drop off from the fixing portion 3.

  According to the present embodiment, as shown in FIGS. 5A and 5B, in the fixing portion 3, the pressing mechanism 310-i corresponding to the drill portion 33-i is pierced by the drill blade 331 of the drill portion 33-i. The inner surface of the cylindrical body 10 is pressed on the bottom side of the cylindrical body 10 from the position to be cut and on the top side of the cylindrical body 10 than the cutting position of the cylindrical body cutting section 4. This suppresses the vibration transmitted from the cut portion when the inner surface of the cylindrical body 10 is cut by the cylindrical body cutting section 4 at the pressed portion of the pressing mechanism 310-i, and makes it difficult for the vibration to be transmitted to the drill blade 331 of 33-i. Can be.

  According to this embodiment, as shown in FIGS. 5A and 5B, the inner surface of the cylindrical body 10 is pressed by the two pressing portions 31 and 32 at different positions in the longitudinal direction of the cylindrical body 10, and the two pressing portions 31 And 32, the inner surface is cut by the tubular body cutting section 4 at an intermediate position. Thereby, before and after the cutting of the tubular body 10, the one pressing portion 32 is fixed to the remaining portion of the tubular body 10, so that the position of the fixing portion 3 with respect to the tubular body 10 is easily stabilized. After the cutting of the cylindrical body 10, the pressing is released at the pressing portion 32 disposed on the bottom side of the cylindrical body 10, and the pressing is maintained at the pressing portion 31 disposed on the top side of the cylindrical body 10. In addition, it is possible to hang down the tubular body 10 while fixing the cut portion thereof to the fixing portion 3.

  According to the present embodiment, when the tubular structure 1 is dismantled, the dismantling device (2A to 2C) is lifted by a crane or the like, and the fixing unit 3 and the tube cutting unit 4 are disposed inside the tube 10. At the same time, the revolving tables (5A, 5B) are arranged outside the cylindrical body 10, and the inner surface of the cylindrical body 10 is pressed by the fixing portion 3, so that the fixing portion 3 is fixed to the cylindrical body 10. In this state, along the center line passing through the center of the cross section perpendicular to the longitudinal direction of the swivel (5A, 5B) so that the outer structure cutting portion (6A to 6C) approaches the target portion of the outer structure 11. The swivel (5A, 5B) turns around the turning axis RX. When the outer structure cutting portion (6A to 6C) approaches the target portion of the outer structure 11, the target portion is gripped by the outer structure cutting portion (6A to 6C), and the target portion is removed from another portion of the outer structure 11. Is disconnected. Further, the circular saw 41 of the tubular body cutting section 4 rotates around the turning axis RX, and the inner surface is cut in the circumferential direction of the cylindrical body 10 by the rotation of the circular saw 41. Then, in a state where a part of the cut tubular body 10 is fixed to the fixing part 3, and in a state where the cut target part of the outer structure 11 is gripped by the outer structure cutting parts (6A to 6C). The dismantling device (2A to 2C) is lifted by a crane or the like, and a part of the cut tubular body 10 and a target portion of the cut outer structure 11 are removed from the tubular structure 1. Therefore, it is possible to cut a part of the tubular body 10 and a target portion of the outer structure 11 and hang the cut pieces on the ground without placing an operator on the upper part of the tubular structure 1. Become.

  As described above, some embodiments of the present invention have been described, but the present invention is not limited to the above-described embodiments, and includes various variations.

  In the disassembly procedure of the tubular structure 1 described above, an example is given in which both the cut portion of the tubular body 10 and the cut portion of the outer structure 11 are lifted and removed. Alternatively, only the cut portion of the outer structure 11 may be lifted and removed.

  DESCRIPTION OF SYMBOLS 1 ... cylindrical structure, 10 ... cylindrical body, 101 ... inner surface, 11 ... outer structure, 12 ... steel tower, 13 ... main pillar, 14 ... diagonal material, 15 ... ladder, 16 ... back cage, 17 ... electric conduit, 18 ... walkway, 2, 2A, 2B, 2C ... dismantling device, 20A, 20B ... turntable support, 21 ... rope, 22 ... length control, 25 ... remote control, 3 ... fixing, 30 ... frame, 31 ... pressing part, 310-1 to 310-4 ... pressing mechanism, 311 ... telescopic arm part, 312 ... contact part, 32 ... pressing part, 320-1 to 320-4 ... pressing mechanism, 321 ... telescopic arm part, Reference numeral 322: contact portion, 33: drill portion, 330: drill body, 331: drill blade, 332: drill blade moving mechanism, 4: tubular body cutting portion, 40: frame, 41: circular saw, 42-1 to 42- 4: Circular saw support mechanism, 421: circular saw moving mechanism, 422: circular saw rotation mechanism, 5A 5B: swivel table, 51, 52: beam part, 53: movable hanging part, 501, 502: support frame, 503: connecting tool, 504: connecting tool, 6A, 6B, 6C: outer structure cutting part, 60: Robot arm for cutting cylinder body, 61 ... Robot arm for holding, 62 ... Robot arm for cutting, 601 ... Clamping device, 602 ... Holder, 603 ... Wire rope, 70 ... Clamping part, 71-1 to 71-2 ... Holding part , 72 ... cutting part, 73 ... drill part, 791 ... drill blade, 700 ... frame, 701A, 701B ... coupling tool, 703-1 to 703-2 ... guide frame, 708 ... outer cover, 709 ... inner cover, 712 ... Position sensor, 710-1: first circular saw, 710-2: second circular saw, 720: circular saw turning mechanism, 730-1: first circular saw rotating mechanism, 730-2: second circular saw rotating mechanism, 731- ... First rotating shaft, 731-2. Second rotating shaft, 740-1... First circular saw moving mechanism, 740-2... Second circular saw moving mechanism, 741-1. Second turning shaft, 750 gear, 760 turning base, 761 rack, 770 cutting position adjusting mechanism, 771 first moving mechanism, 772 second moving mechanism, 780-1 to 780-2 actuator, 781 -1 to 781-2: movable piece, 782-1 to 782-2: connecting portion, 783: fixed piece, 784-1 to 784-2: rotating shaft, 785-1 to 785-2: rotating shaft, 791: Drill blade, 80: Clamp part, 81-1 to 81-4 ... Grip part, 82-1 to 82-2 ... Cutting part, 83 ... Drill part, 84 ... First support part, 85 ... Second support part , 86: first turning mechanism, 87: second turning mechanism, 88: hanging balance, 801A, 801 B: Connecting tool, 891: Drill blade, 90: Crane, RX: Revolving axis, L1, L2: Straight line, RL: Revolving center line

Claims (14)

A tubular body, a dismantling device for a tubular structure including an outer structure provided outside the tubular body,
A fixing portion fixed to the tubular body by pressing an inner surface of the tubular body,
A tubular body cutting portion having one or more cutting tools that can rotate with respect to the fixed portion, and cutting the inner surface in a circumferential direction of the tubular body by rotating the cutting tool;
One or more outer structure cutting portions for gripping and cutting the outer structure,
A swivel that is located outside the tubular body and is rotatable with respect to the fixed portion, and the outer structure cutting portion is fixed or suspended.
The tubular body cutting portion and the swivel table,
Each of the fixed portions is pivotably combined with each other,
In a state where the fixing portion is fixed to the inner surface of the tubular body, the tubular body is driven so as to pivot around a pivot axis along a center line passing through a center of a cross section perpendicular to a longitudinal direction of the tubular body.
A tubular structure dismantling device. The swivel base includes at least one beam portion extending in a direction perpendicular to the swivel axis,
The outer structure cutting portion is suspended from the beam portion,
The tubular structure dismantling device according to claim 1. The turning table includes four beam portions provided in a cross shape with the turning axis as a center, and the outer structure cutting portion is suspended from each of the four beam portions.
The tubular structure dismantling device according to claim 2. The beam portion includes a movable hanging portion driven in a direction of moving forward and backward with respect to the turning axis,
The outer structure cutting section is suspended by the moving suspension section,
The tubular structure dismantling device according to claim 2. Three ropes connected to the outer structure cutting portion and the beam portion;
At least one length control unit inserted into at least one of the three ropes and capable of changing the length in the vertical direction;
The tubular structure dismantling device according to any one of claims 2 to 4. The outer structure cutting section,
A first support unit connected to the three ropes,
A second support unit pivotally combined with the first support unit,
A grip portion fixed to the second support portion and gripping the outer structure;
A cutting portion fixed to the second support portion and cutting the outer structure,
The second support is driven to pivot about an axis perpendicular to a straight line passing through two couplings connecting the two ropes and the first support,
At least the length control unit is inserted into a rope other than the two ropes,
The tubular structure dismantling device according to claim 5. The outer structure cutting section includes a hanging balance pivotally attached to the first support section,
The two connecting devices connected to the two ropes, and a connecting device connected to a rope other than the two ropes via the length control unit are provided on the hanging balance,
The axis on which the hanging balance pivots with respect to the first support is perpendicular to the axis with which the second support pivots with respect to the first support, and passes through the two connectors. Perpendicular to the straight line,
The tubular structure dismantling device according to claim 6. The outer structure cutting portion has at least one first drill portion provided with a drill blade that makes a hole in the outer structure and fits into the hole.
The tubular structure dismantling device according to any one of claims 1 to 7. The swivel platform includes at least one beam extending in a direction perpendicular to the swivel axis;
The outer structure cutting section,
A gripping robot arm for gripping the outer structure;
Cutting robot arm for cutting the outer structure in a state of being gripped by the gripping robot arm,
The gripping robot arm and the cutting robot arm are fixed to the beam portion,
The tubular structure dismantling device according to claim 1. The fixing portion includes at least one pressing portion that presses an inner surface of the tubular body,
The pressing portion includes a plurality of pressing mechanisms that respectively generate a pressing force that presses the inner surface of the cylindrical body in a radial direction,
The plurality of pressing mechanisms apply the pressing force to a plurality of positions on the inner surface separated at equal intervals in a circumferential direction of the tubular body,
The tubular structure dismantling device according to any one of claims 1 to 9. The fixing portion includes at least one second drill portion including a drill blade that is formed on an inner surface of the tubular body at a top side of the tubular body from a cutting position of the tubular body cutting portion and fits into the hole. Having,
The tubular structure dismantling device according to claim 10. The fixing portion includes a plurality of second drill portions corresponding to the plurality of pressing mechanisms of the pressing portion,
One of the pressing mechanisms corresponding to one of the second drill portions is closer to a bottom portion of the tubular body than a position of the hole drilled by the one second drill portion, and a cutting position of the tubular body cutting portion. Pressing the inner surface of the tubular body at the top side of the tubular body,
A tubular structure dismantling device according to claim 11. The fixing portion includes two pressing portions that press the inner surface of the cylindrical body at different positions in the longitudinal direction of the cylindrical body,
The tubular body cutting portion cuts the inner surface at an intermediate position between the pressing positions of the two pressing portions,
The tubular structure dismantling device according to any one of claims 10 to 12. A method for dismantling a tubular structure, comprising a tubular body and an outer structure provided outside the tubular body,
A fixing portion fixed to the tubular body by pressing an inner surface of the tubular body, a tubular body cutting portion having one or more cutting tools pivotable with respect to the fixed portion, and holding the outer structure Lifting a device having one or more outer structure cutting portions to be cut and cut, and a swivel table rotatable with respect to the fixed portion, wherein the outer structure cutting portion is fixed or suspended; And, while positioning the tubular body cutting portion inside the tubular body, the step of positioning the swivel outside the tubular body,
A step of pressing the inner surface of the cylindrical body to the fixing part to fix the fixing part to the cylindrical body,
Swiveling the swivel base about a swivel axis along a center line passing through the center of a cross section perpendicular to the longitudinal direction of the tubular body such that the outer structure cutting portion approaches a target portion of the outer structure. When,
Gripping the target portion by the outer structure cutting portion, and cutting the target portion from another portion of the outer structure;
Turning the one or more cutting tools of the tube cutting section around the turning axis, and cutting the inner surface in a circumferential direction of the tube by turning of the cutting tool;
In a state in which the fixing portion is fixed to a part of the cut tubular body, and in a state where the cut target portion is gripped by the outer structure cutting portion, the apparatus is lifted up and one of the cut tubular bodies is lifted. Removing the part and the cut target portion from the tubular structure.

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