JP2021148367A - Crushed material loading device - Google Patents

Abstract

To provide a technique that enables recovery work, rescue activities, etc., in a place where it is difficult to perform the rescue activities and recovery work by manpower in a case of disaster such as a landslide, a building collapse, etc., caused by an earthquake or heavy rain.SOLUTION: A crushed material loading device has: a device body; three or more legs which are provided on the device body, and can change an attitude of the device body; a drilling device which drills a hole in a structure to be crushed; and a feed device which feeds crushed material as a non-explosive crushed composition into the hole formed in the structure by the drilling device. The at least three legs can be made extensible, and also changeable in angle to the device body so as to not only change the attitude of the device body, but also move the device body.SELECTED DRAWING: Figure 1

Description

The present invention relates to a crushing material loading device used when crushing a structure such as a large block of rock or a concrete wall.

Slope collapse (landslides / landslides), landslides, debris flows, and earthquakes caused by heavy rains can cause disasters such as collapse of neighboring houses and buildings, disruption of transportation, and loss of human life. When such a disaster occurs, search and rescue work for human lives swallowed by earth and sand, removal of earth and sand, and restoration work such as removal of collapsed buildings are carried out. In post-disaster restoration work, the work of removing the earth and sand on the surface of the collapsed slope, the trees that moved with the earth and sand, and the large block of rock, and crushing the walls of the collapsed building (concrete walls, etc.) to a size that can be transported. Work is required.

For example, as a method of crushing a large block of rock or a concrete wall to a size that can be carried, mechanical cutting with a wire saw (see Patent Document 1 etc.) and (blow) crushing with a breaker for rock excavation (Patent Document 2). , Etc.), cutting with a water jet (see Patent Document 3 and the like), and blasting and crushing with an explosive (see Patent Document 4 and the like).

For example, in the mechanical cutting by the wire saw disclosed in Patent Document 1 and the crushing by the breaker for rock excavation disclosed in Patent Document 2, a large amount of excavation dust and dust are generated when the large-lump rock is divided. In addition, the generated noise and vibration have a great impact on the surrounding environment. Further, in the cutting by a water jet disclosed in Patent Document 3, the treatment of sewage containing cutting powder becomes a problem. Further, the explosive blasting crushing disclosed in Patent Document 4 is a method that can contribute to shortening the restoration work and the construction speed is high because the rock can be crushed instantly.

JP-A-2002-086441 Japanese Unexamined Patent Publication No. 2005-246511 Japanese Unexamined Patent Publication No. 2007-283183 Japanese Unexamined Patent Publication No. 2005-030710

By the way, the above-mentioned restoration work is often performed at a place where it has collapsed due to a sediment-related disaster. For example, when mechanical cutting with a wire saw, (striking) crushing with a breaker for rock excavation, and cutting with a water jet are adopted, it is necessary to secure a place for installing ancillary equipment and large heavy machinery. Therefore, these methods require a great deal of time from the start of construction to the end of construction. In addition, since the concrete walls of collapsed rocks and collapsed buildings may not be stable due to slope failures, it is dangerous for workers to work in the vicinity of large rocks and concrete walls. It becomes.

On the other hand, blasting and crushing with explosives requires the work of embedding explosives after piercing the rock or concrete wall to be crushed. Therefore, the operator uses a hand drill or a rock drill mounted on a crane to drill the rock or concrete wall to be crushed, and then embed the explosive. However, blasting and crushing with explosives at the location of the disaster is likely to cause a secondary disaster. Also, as with other methods, if the crane cannot be installed, the work will be done while checking whether the rock or concrete wall to be crushed is in a stable state, which is dangerous work. It becomes.

The present invention has been made to meet such problems, and in the event of a disaster such as a landslide or a building collapse due to an earthquake or heavy rain, the restoration work or the relief activity is performed in a place where it is difficult for personnel to perform the rescue activity or the restoration work. It is to provide the technology that makes it possible.

The present invention has been invented to solve the above problems, and the crushing material loading device of the present invention is provided on the device main body and the device main body, and can change the posture of the device main body. At least three or more legs, a drilling device for drilling a structure to be crushed, and a crushing material which is a non-explosive crushing composition are put into a hole generated in the structure by the drilling device. It is characterized by having an apparatus.

Further, by making the at least three legs expandable and contractible and the angle with respect to the device main body can be changed, it is possible not only to change the posture of the device main body but also to move the device main body. Is preferable.

Further, the apparatus main body has a first moving device for changing the relative position of the drilling device with respect to the structure, and the first moving device includes a moving table for fixing the drilling device and the moving table. It is characterized by including a driving unit for moving the moving table and a regulating unit for restricting the moving direction of the moving table.

Further, it has a holding device for holding the crushed material, and the holding device has a holding cylinder for stacking and storing a plurality of the crushed materials, and the holding device has entered the inside of the holding cylinder and is stored inside the holding cylinder. Among the plurality of the crushed materials, between the position where the crushed material of the lowest layer is supported and the position where the crushed material of the lowest layer is discharged from the lower end of the holding cylinder by retracting from the inside of the holding cylinder. It is characterized by including a moving first support member.

Further, the holding device enters the inside of the holding cylinder and supports the crushed material located above the crushed material in the lowermost layer and retracts from the inside of the holding cylinder to move the supported crushed material. It is characterized by further having a second support member arranged above the first support member, which is sent out toward the first support member that has entered the inside of the holding cylinder.

In these cases, the holding cylinder preferably has a slit along the longitudinal direction of the holding cylinder through which the blasting bus drawn from the crushed material is inserted.

Further, the charging device includes a pair of holding pieces for gripping the crushed material discharged from the holding device, a first position for holding the pair of holding pieces below the holding device, and a drilling device. It is characterized by having a moving mechanism that moves the crushed material to and from a second position that moves the crushed material above the holes formed in the structure.

Further, the loading device is further characterized by further having a gripping mechanism for changing the pair of holding pieces between a gripping state for gripping the crushing material and a releasing position for releasing the gripping of the crushing material. do.

Further, the drilling device is fixed to a rod that rotates during driving and a tip of the rod, and when the rod is rotated, it is pressed against the structure to drill a hole in the structure. The first moving device has a hole bit, and when the crushing material is put into a hole formed in the structure, the first moving device moves the hole drilling device toward the hole and cuts the hole. The crushing material is pushed into the hole by the hole bit.

Further, it is preferable to have an injection device for injecting the filling material into the hole after the crushing material is put into the hole formed in the structure.

Further, the charging device is characterized by having a rotating disk having a first holding portion for holding the crushed material at predetermined angular intervals, and a driving unit for rotating the rotating disk.

In this case, it is preferable that the turntable has a second holding portion for holding the filling material to be put into the hole after the crushing material is put into the hole formed in the structure.

Further, it is preferable that the driving unit rotates the turntable so that either one of the first holding portion or the second holding portion is arranged above the hole formed in the structure.

Further, the charging device uses either a crushing material held by the first holding portion or a filling material held by the second holding portion, which is arranged above the hole generated in the structure. It is characterized by having a pressing device for pressing.

Further, the charging device is a second moving device that moves the rotary disk between a first position that enters the moving locus of the drilling device and a second position that retracts from the moving locus of the drilling device. It is characterized by having.

It is preferable to have a wiring device for connecting the blasting bus drawn from the crushing material and the ignition wire connected to the igniter that ignites the crushing material to the connector.

Further, it is characterized by having a control device for controlling each part of the crushing material loading device and an input unit for outputting an operation command of the crushing material loading device toward the control device.

Further, the at least three or more legs, the drilling device and the feeding device are characterized by having a waterproof structure. The waterproof structure makes it possible to work under rainfall and for structures that are flooded into rivers and coasts at a depth of several meters.

According to the present invention, in the event of a disaster such as a landslide or a building collapse due to an earthquake or heavy rain, it is possible to perform restoration work, relief activity, or the like in a place where it is difficult for personnel to perform rescue activity or restoration work.

It is a perspective view which shows an example of the structure of the front side of the crushing material loading device of this embodiment. It is a perspective view which shows an example of the structure of the rear surface side of the crushing material loading device shown in FIG. It is a perspective view which shows the structure in the vicinity of a drilling apparatus. It is a figure which shows an example of the structure of the drilling device and the slide device when the crushing material loading device is visually recognized from below. It is a side view which shows an example of the structure of a drilling device and a slide device. It is a side view which shows the state which the drilling device is lowered by the slide device. It is a perspective view which shows an example of the structure of a cartridge and a loading device. It is a top view which shows the state of a loading device. It is a functional block diagram which shows an example of the control system of the crushing material loading device of this embodiment. It is a flowchart which shows an example of the flow of the process which concerns on drilling and loading of a crushing material using a crushing material loading device. It is a figure which shows the neighborhood of the cartridge and the loading device when the structure is drilled using the crushing material loading device of this embodiment. It is a figure which shows the state which dropped the crushing material into the hole which drilled a hole with respect to a structure. It is a figure which shows the state which pushes the crushing material which fell into a hole by a drilling device. It is a figure which shows an example of the flow which occludes a crushing material by using the crushing material which fixed the case containing the filling material. It is explanatory drawing which shows an example of the throwing device in another embodiment. It is a figure which shows an example of the structure of a turntable. (A) is a cross-sectional view showing a holding state of a crushed material in the first holding portion, and (b) is a cross-sectional view showing a state when the crushed material is pressed by a rod.

Hereinafter, the crushed material loading device of the present embodiment will be described with reference to the drawings. The crushing material loading device of the present invention is used for crushing, for example, a large block of rock exposed by a slope failure, a concrete wall of a collapsed building, or a floor surface of a building to be removed, and these structures. It is a device for drilling and charging crushed material into the drilled part. As the material of the main part of the crushing material loading device 10 shown in the present embodiment, a general steel material can be used, but for example, a metal such as aluminum or titanium, which is not affected by the electromagnetic field in the work place, or FRP. It is a composite material of fiber reinforced plastic such as (Fiber Reinforced Plastics) and CFRP (Carbon Fiber Reinforced Plastics).

Further, in the crushing material loading device 10 shown in the present embodiment, the three legs 16, the drilling device 17, and the loading device 20, which will be described later, have at least a waterproof structure. By making these devices waterproof, it is possible to work under rainfall and work on rivers, coasts, and underground structures at a depth of several meters. In addition to this, after the work using the crushed material loading device 10, rock powder, concrete powder, etc. adhering to the crushed material loading device 10 can be washed with running water or high-pressure washing.

FIG. 1 is a perspective view showing the configuration of the front side of the crushing material loading device, and FIG. 2 is a perspective view showing the configuration of the rear surface side of the crushing material loading device. In the present embodiment, the direction in which the drilling device included in the crushing material loading device is visible is defined as the front side, and the direction in which the drilling device is not visible is defined as the rear surface side. In addition, in FIG. 1 and FIG. 2, in order to prevent the complexity of the drawings, only the main configuration of the device is disclosed, and cables, air hoses, etc. are omitted.

The crushing material loading device 10 includes a device main body 15, three legs 16, a drilling device 17, a slide device (see FIG. 4) 18, a cartridge (corresponding to the holding device according to claim) 19, a loading device 20, and the like. include.

The apparatus main body 15 includes an upper plate 25, a lower plate 26, six connecting members 27, a holding member 28, and the like.

The upper plate 25 is a plate member having a substantially hexagonal shape. The upper plate 25 has a ring bolt 30 and a shaft support member 31 on the outer peripheral edge of the upper surface. The ring bolt 30 is a member for attaching a hook (not shown) for suspending the crushed material loading device 10. The ring bolts 30 are arranged on the upper surface of the upper plate 25 at intervals of, for example, 120 °. The shaft support member 31 is a member that pivotally supports the upper end of the leg. The shaft support members 31 are arranged on the upper surface of the upper plate 25 at intervals of, for example, 120 °. The number of ring bolts 30 installed does not have to be limited to 3, and may be 4 or more. Further, the number of shaft support members 31 to be installed is set according to the number of legs 16, and if the number of legs 16 is 4 or more, the number of legs 16 is set to match the number of legs 16 and is installed on the upper plate 25. Will be done.

The lower plate 26 is a substantially octagonal plate member having an open center. Hereinafter, the opening portion will be described with reference to reference numeral 26a. The lower plate 26 has a base member 54 on the lower surface side that holds the slide device 18.

The connecting member 27 is, for example, a cylindrical member. The connecting member 27 has one end fixed to the upper plate 25 and the other end fixed to the lower plate 26 in the axial direction. In this embodiment, a case where the upper plate 25 and the lower plate 26 are connected by using six connecting members 27 will be described. The number of connecting members 27 that connect the upper plate 25 and the lower plate 26 does not have to be limited to six.

A shaft support member 32 is provided across two adjacent connecting members 27 among the six connecting members 27. The shaft support member 32 is arranged near the center of the connecting member 27 in the axial direction. The shaft support member 32 pivotally supports one end of the telescopic arm 38, which will be described later. Since six connecting members 27 are used in the present embodiment, the shaft support members 32 are provided at three positions across the two adjacent connecting members 27.

The holding member 28 is provided on the lower surface side of the upper plate 25 in a state of extending toward the lower plate 26. The holding member 28 holds an air cylinder 50 which is a drive source of the slide device 18.

The leg 16 has an upper leg portion 33, an air cylinder 34, and a lower leg portion 35. The upper end portion of the upper leg portion 33 pivotally supports the upper end portion with the shaft support member 31 of the upper plate 25. Further, the upper leg portion 33 has a shaft support portion 33a on the lower side than the center in the axial direction. The shaft support portion 33a pivotally supports the other end of the telescopic arm 38.

The air cylinder 34 has a cylinder body 36 fixed to the lower end portion of the upper leg portion 33 and a rod 37 fixing the upper end portion of the lower leg portion 35. By arranging the air cylinder 34 between the upper leg portion 33 and the lower leg portion 35, the lower leg portion 35 moves in the longitudinal direction of the leg 16 due to the expansion and contraction of the rod 37 of the air cylinder 34. As a result, the overall length of the leg 16 changes.

The total length of the telescopic arm 38 changes as the screw rotates due to the rotation of the motor 145 (see FIG. 9) provided inside the telescopic arm 38, for example. As described above, one end of the telescopic arm 38 is pivotally supported by the shaft support member 32 provided on the upper plate 25, and the other end is pivotally supported by the shaft support 33a of the upper leg 33 of the leg 16. Therefore, due to the expansion and contraction of the telescopic arm 38, the angle formed by the leg 16 in the longitudinal direction and the longitudinal direction of the connecting member 27 of the apparatus main body 15 changes.

In the present embodiment, the posture of the crushing material loading device 10 is changed by changing the overall length of the legs 16 and the angle formed by the longitudinal direction of the legs 16 and the longitudinal direction of the connecting member 27 of the apparatus main body 15 for each leg. Not only can it be changed, but the crushing material loading device 10 can be moved in a predetermined direction.

As shown in FIG. 3, the drilling device 17 rotates the rod 17a and the drilling bit 17b fixed to the tip of the rod 17a by supplying compressed air to drill a target rock or concrete wall. It is a device. The drilling device 17 is fixed to the moving table 39. The drilling device 17 is fixed to the moving table 39 so that the axial direction of the rod 17a and the moving direction of the moving table 39 in the sliding device 18 coincide with each other.

The drilling device 17 has a handle 17c inserted between the protrusions 41 and 42 erected on the pedestal 40 of the moving table 39 and the protrusions 43 erected below the protrusions 41 and 42. By fixing the holding plate 44 across the protrusions 41, 42, and 43, the drilling device 17 is prevented from falling off from the moving table 39. Further, in the drilling device 17, the end portion on the opposite side of the handle 17c is supported by a support member 45 provided on the moving table 39 and a fixing member 46 fixed to the support member 45. As a result, the drilling device 17 is positioned and held so that the axial direction of the rod 17a is in the vertical direction. The support member 45 may be integrated with the moving table 39 or may be fixed to the moving table 39.

As shown in FIGS. 3 to 5, the slide device (corresponding to the first moving device according to claim) 18 is an air cylinder (corresponding to the driving unit according to claim) in addition to the moving table 39. Includes 50, a guide plate (corresponding to the regulatory section of claim) 51 and a guide bracket (corresponding to the regulatory section of claim) 52, 53. The air cylinder 50 has a cylinder body 50a and a rod 50b. The cylinder body 50a is suspended from a holding member 28 provided on the lower surface of the upper plate 25. When the cylinder body 50a is suspended from the holding member 28, the lower end of the cylinder body 50a is inserted into the opening 26a of the lower plate 26. The rod 50b fixes the bracket 55 fixed to the pedestal 40 to the tip. Therefore, as shown in FIGS. 5 and 6, when the rod 50b extends from the cylinder body 50a, the rod 50b presses the pedestal 40 downward and slides the moving table 39 downward. On the other hand, when the rod 50b retracts to the cylinder body 50a, the rod 50b pulls up the pedestal 40 and slides the moving table 39 upward.

The guide plate 51 is provided on the base member 54. The guide plate 51 has cylindrical guide pole portions 51a and 51b at both ends in the width direction. The guide plate 51 is arranged on the base member 54 so that the axial directions of the guide pole portions 51a and 51b coincide with the expansion and contraction directions of the rod 50b of the air cylinder 50.

The guide brackets 52 are arranged at two locations above and below on the back surface side of the moving table 39. The guide bracket 52 has a recess 52a through which the guide pole portion 51a of the guide plate 51 is inserted. Similarly, the guide brackets 53 are arranged at two locations above and below on the back surface side of the moving table 39. The guide bracket 53 has a recess 53a through which the guide pole portion 51b of the guide plate 51 is inserted.

By inserting the guide pole portion 51a of the guide plate 51 into the recess 52a of the guide bracket 52 and the guide pole portion 51b of the guide plate 51 into the recess 53a of the guide bracket 52, the moving direction of the moving table 39 can be changed to the guide pole portion. It is regulated in the axial direction of 51a and 51b.

The cartridge 19 is a device arranged laterally to the base member 54 via a bracket 55 (see FIG. 1 or 2). As shown in FIG. 7, the cartridge 19 has a holding cylinder 60, support pieces 61, 62, 63, connecting shafts 64, 65, connecting pieces 66, a guide shaft 67, and a base member 68. The holding cylinder 60 is a cylindrical member in which a slit 60a along the axial direction is formed on the front surface. The holding cylinder 60 holds, for example, the crushed material 80 (see FIG. 8) in a stacked state along the axial direction (vertical direction) of the holding cylinder 60. In the present embodiment, the case where the holding cylinder 60 holds four crushed materials 80 will be described. The number of crushed materials 80 to be stacked and held inside the holding cylinder 60 is set to 4, but it may be 1 to 3 or 5 or more. A blasting bus (ignition line) drawn from the crushing material 80 is inserted into the slit 60a.

The holding cylinder 60 has openings 60b and 60c at two locations at a position rotated by 90 ° from the position where the slit 60a is provided at the lower part of the holding cylinder 60 at a predetermined interval in the axial direction of the holding cylinder 60. The distance between the openings 60b and the openings 60c is set to be longer than the total length of the crushing material 80, for example. A rod 71a (see FIG. 11) of an air cylinder 71 fixed to the lower part of the support piece 62 enters and exits the opening 60b. Further, the rod 72 (see FIG. 11) of the air cylinder 72 fixed to the lower part of the support piece 63 enters and exits the opening 60c.

The support pieces 61, 62, 63 are provided along the vertical direction of the base member 68, and hold the holding cylinder 60 and the connecting shafts 64, 65. In these support pieces 61, 62, 63, notches 61a, 62a, 63a are provided at locations superposed on the slit 60a of the holding cylinder 60, respectively. The support pieces 61, 62, 63 each have notches 61a, 62a, 63a that expose the slits 60a, so that the blasting bus drawn from the crushing material when the crushing material moves downward is the support piece. It is possible to move downward along the slit 60a without being caught in each of 61, 62, and 63.

Of these support pieces 61, 62, 63, the support piece 62 fixes an air cylinder (corresponding to the second support member according to claim) 71. Further, the support piece 63 fixes an air cylinder (corresponding to the first support member according to claim) 72. In the air cylinder 71, the rod 71a is moved in and out of the opening 60b, so that one crushed material whose fall is restricted by the rod 71a is dropped downward, and then the crushed material stacked above the crushed material is formed. Prevents continuous drops.

Similarly, the air cylinder 72 drops one crushed material whose fall is restricted by the rod 72a from the lower end portion of the holding cylinder 60 to the outside (downward) by moving the rod 72a in and out of the opening 60c. After this, it is possible to prevent one crushing material that falls due to the degeneracy of the rod 71a from continuously falling to the outside.

The connecting piece 66 is an L-shaped member. One piece 66a of the connecting piece 66 forming the L-shape fixes the upper ends of the connecting shafts 64 and 65. Further, the other piece 66b of the connecting piece 66 fixes and supports the upper end portion of the guide shaft 67. Although not shown, the guide shaft 67 spirally winds, for example, a blasting bus drawn from the slit 60a of the holding cylinder 60. As a result, it is possible to prevent the blasting bus drawn from each of the crushing materials stacked and stored inside the holding cylinder 60 from being entangled with the other blasting bus.

As shown in FIGS. 7 and 8, the loading device 20 is provided below the base member 68 included in the cartridge 19. The loading device 20 has a mechanism main body 75, a rotary table 76, and holding pieces 77 and 78. The mechanism main body 75 is fixed to a holding plate 79 fixed to the base member 68. Although not shown, a mechanism for rotating the rotary table 76 (hereinafter referred to as a rotation mechanism) is housed inside the mechanism main body 75. The rotary mechanism 81 of the rotary table 76 (see FIG. 9) includes a mechanism for rotating the rotary table 76 with the supplied compressed air.

The rotary table 76 has a rotating mechanism (corresponding to the moving mechanism according to claim) 81 housed inside the mechanism main body 75, so that the holding portion 77a of the holding piece 77 and the holding portion 78a of the holding piece 78 are held in the holding cylinder 60. The first position located below (see FIG. 8A) and the sandwiching portions 77a and 78a are located below the drilling bit 17b of the drilling device 17 (or above the drilled hole 155). Rotate 180 ° between the two positions (see FIG. 8B).

Although not shown, a mechanism capable of changing the relative positions of the holding pieces 77 and 78 (hereinafter referred to as a gripping mechanism) is housed inside the rotary table 76. Examples of the gripping mechanism 82 (see FIG. 9) of the holding pieces 77 and 78 include a mechanism for changing the relative position of the holding pieces by the supplied compressed air.

The sandwiching pieces 77 and 78 change between a gripping state in which the crushing material 80 is gripped by the gripping mechanism 82 and a releasing state in which the crushing material 80 is released from being gripped. The sandwiching pieces 77 and 78 each have sandwiching portions 77a and 78a curved so as to have a concave shape with respect to the other sandwiching piece. The sandwiching pieces 77, 78 are in a state in which the sandwiching portions 77a, 78a of the sandwiching pieces 77, 78 are brought into contact with the outer peripheral surface of the crushing material 80 by sliding each sandwiching piece in a direction closer to the other sandwiching piece. Hold it with.

Next, the crushing material 80 used in the present embodiment will be described. As the crushing material 80, for example, a low vibration / low noise crushing agent gunsizer (registered trademark, trade name manufactured by Nippon Koki Co., Ltd.) is used. The crushing material 80 generates high-pressure gas by burning the loaded gas generating agent. The gas generating agent is a non-explosive crushing composition that crushes rocks and the like in the same procedure as the crushing method using explosives without requiring a consumption permit. As the crushing material 80, a gas generating agent having the following constitution is used.

The composition and blending ratio of the gas generating agent are, for example, potassium alum or ammonium alum 44-55%, cupric oxide 33-44%, aluminum 9-17%, calcium stearate 2.4-2.6%, vinyl chloride 1 It is .2 to 1.8%. The particle size of the gas generating agent is a sieved product that passes through 24 Tyler mesh and stops at 42 Tyler mesh, that is, the particle size is in the range of 0.35 mm to 0.71 mm. The gas generator described above has a maximum pressure of about 25 MPa when burned in a 10 cc pressure tank. Explosives and pyrotechnics are used instead of gas generating agents depending on the place of use where there is no restriction of the Explosives Control Act or the situation of the object to be crushed.

FIG. 9 is a functional block diagram showing an example of a control system 100 that operates the crushed material loading device according to the present embodiment. In FIG. 9, the signal line indicating the control signal from the control device 103 to the control valve provided on each air hose is omitted. Further, in FIG. 9, the signal line indicating the electric signal is shown by a dotted line. The case where the crushed material loading device of the present embodiment is operated by air pressure control is given as an example. However, the crushing material loading device can also be operated by control by water pressure, hydraulic pressure, or the like according to the surrounding environment.

The control system 100 includes the above-mentioned crushing material loading device 10, air compressors 101 and 102, a control device 103, an operation unit 104, and a display unit 105. Hereinafter, the three legs 16 included in the crushing material loading device 10 will be described with, for example, the symbols “a”, “b”, and “c”.

Of the three legs 16, the air cylinder 34a of the legs 16a is connected to the air hose 110 connected to the air compressor 101. The air hose 110 has a control valve 111a and a solenoid valve 112a. The control valve 111a is opened and closed controlled by the control device 103 to switch between supplying and stopping the supply of compressed air from the air compressor 101. The solenoid valve 112a switches the flow of compressed air supplied from the air compressor 101. By switching the flow of compressed air by the solenoid valve 112a, the rod 37a of the air cylinder 34a expands and contracts.

Further, the air cylinder 34b of the leg 16b is connected to the air hose 113 branching from the air hose 110. The air hose 113 has a control valve 111b and a solenoid valve 112b. The control valve 111b is opened and closed controlled by the control device 103 to switch between supplying and stopping the supply of compressed air from the air compressor 101. The solenoid valve 112b switches the flow of compressed air supplied from the air compressor 101. By switching the flow of compressed air by the solenoid valve 112b, the rod 37b of the air cylinder 34b expands and contracts.

Similarly, the air cylinder 34c of the leg 16c is connected to the air hose 114 branching from the air hose 110. The air hose 114 has a control valve 111c and a solenoid valve 112c. The control valve 111c is opened and closed by the control device 103 to switch between supplying and stopping the supply of compressed air from the air compressor 101. The solenoid valve 112c switches the flow of compressed air supplied from the air compressor 101. By switching the flow of compressed air by the solenoid valve 112c, the rod 37c of the air cylinder 34c expands and contracts.

The drilling device 17 is connected to an air hose 115 connected to the air compressor 102. The air hose 115 has a control valve 116. The control valve 116 is controlled to open and close by the control device 103. Therefore, when the control valve 116 is opened, compressed air from the air compressor 102 is supplied to the drilling device 17, the rod 17a of the drilling device 17 rotates in a certain direction, and the rod 17a and the drilling bit 17b move up and down. To (make a blow). Here, the pressure and flow rate of the compressed air supplied from the air compressor 102 to the drilling device 17 are appropriately adjusted depending on the material of the object to be drilled. For example, when the object to be drilled is made of a soft material, compressed air with reduced pressure is supplied to the drilling device 17. On the other hand, when the object to be drilled is made of a soft material, compressed air with increased pressure is supplied to the drilling device 17. Further, for example, when the object to be drilled is submerged in a river, a coast, an underground, or the like, the drilling work by the drilling device 17 is a work under water pressure. In such a case, the pressure and flow rate of the compressed air to be supplied are increased in consideration of the water pressure of the object to be drilled as compared with the case where the compressed air is not submerged, and the compressed air is supplied to the drilling device 17.

The slide device 18 has an air cylinder 50. The air cylinder 50 is connected to an air hose 117 that branches from the air hose 115. The air hose 117 has a control valve 118 and a solenoid valve 119. The control valve 118 is opened and closed controlled by the control device 103 to switch between supplying and stopping the supply of compressed air from the air compressor 102. The solenoid valve 119 switches the flow of compressed air supplied from the air compressor 102. By switching the flow of compressed air by the solenoid valve 119, the rod 50b of the air cylinder 50 expands and contracts.

Here, the air cylinder 50 has position sensors 120 and 121. The position sensor 120 is a sensor that detects the position where the rod 50b is retracted inside the cylinder body 50a. Further, the position sensor 121 is a sensor that detects the position where the rod 50b protrudes from the cylinder body 50a. The signals output from these position sensors 121 are input to the control device 103.

The cartridge 19 has air cylinders 71 and 72. The air cylinder 71 is connected to an air hose 123 that branches from the air hose 115. The air hose 123 has a control valve 124 and a solenoid valve 125. The control valve 124 is opened and closed controlled by the control device 103 to switch between supplying and stopping the supply of compressed air from the air compressor 102. The solenoid valve 125 switches the flow of compressed air supplied from the air compressor 102. By switching the flow of compressed air by the solenoid valve 125, the rod 71a of the air cylinder 71 expands and contracts.

Further, the air cylinder 72 is connected to an air hose 127 that branches from the air hose 115. The air hose 127 has a control valve 128 and a solenoid valve 129. The control valve 128 is opened and closed controlled by the control device 103 to switch between supplying and stopping the supply of compressed air from the air compressor 102. The solenoid valve 129 switches the flow of compressed air supplied from the air compressor 102. By switching the flow of compressed air by the solenoid valve 129, the rod 72a of the air cylinder 72 expands and contracts.

The loading device 20 has a rotating mechanism 81 and a gripping mechanism 82. The rotation mechanism 81 is connected to an air hose 131 that branches from the air hose 115. The air hose 131 has a control valve 132 and a solenoid valve 133. The control valve 132 is opened and closed controlled by the control device 103 to switch between supplying and stopping the supply of compressed air from the air compressor 102. The solenoid valve 133 switches the flow of compressed air supplied from the air compressor 102. By switching the flow of compressed air by the solenoid valve 133, the forward and reverse rotation of the rotary table 76 in the rotary mechanism 81 is controlled.

Here, the rotation mechanism 81 has position sensors 134 and 135. The position sensor 134 is a sensor that detects that the rotary table 76 is in the first position. The position sensor 135 is a sensor that detects that the rotary table 76 is in the second position. The signals output from the position sensors 134 and 135 are input to the control device 103.

The gripping mechanism 82 is connected to an air hose 137 branching from the air hose 115. The air hose 137 has a control valve 138 and a solenoid valve 139. The control valve 138 is opened and closed controlled by the control device 103 to switch between supplying and stopping the supply of compressed air from the air compressor 102. The solenoid valve 139 switches the flow of compressed air supplied from the air compressor 102. By switching the flow of compressed air by the solenoid valve 139, the holding pieces 77 and 78 of the gripping mechanism 82 are switched between the gripped state and the released state. Here, the gripping mechanism 82 has position sensors 140 and 141. The position sensor 140 is a sensor that detects that the holding pieces 77 and 78 are in the gripping state. Further, the position sensor 141 is a sensor that detects that the holding pieces 77 and 78 are in the released state. The signals output from the position sensors 140 and 141 are input to the control device 103.

As described above, the telescopic arm 38 whose both ends are pivotally supported by the device main body 15 and the legs 16 has a motor 145 inside. The motor 145 is driven and controlled by the control device 103.

The control device 103 controls the opening and closing of the control valve and the solenoid valve provided on the air hose between the three legs 16 and the air compressor 101, and controls the rotation of the motor 145 provided on the telescopic arm 38. Further, the control device 103 controls the opening and closing of the control valve 116 provided on the air hose 115 between the drilling device 17, the slide device 18, the cartridge, the charging device and the air compressor 102. Although not shown, the control device has a storage unit that stores a control program that controls each part of the crushing material loading device 10. The control device controls each part based on the control program.

The operation unit 104 receives an input operation by the operator and outputs an operation command of the crushing material loading device 10 to the control device 103. The signal communication between the operation unit 104 and the control device 103 may be wired communication or wireless communication.

The display unit 105 displays a screen showing the operating state of the crushed material loading device 10 and a screen showing whether or not each part of the crushed material loading device 10 is normally driven. The display unit 105 may be integrated with the operation unit 104.

In the present embodiment, the control system operates the crushed material loading device 10 by the input operation of the operation unit 104 by the operator, but the control system may automatically operate the crushed material loading device 10.

In the present embodiment, there are two units, an air compressor 101 that supplies compressed air to the three legs 16, and an air compressor 102 that supplies compressed air to the drilling device 17, the slide device 18, the cartridge 19, and the charging device 20. Although the case where the air compressor is provided is described, the number of compressors that supply compressed air to each device included in the crushed material loading device 10 may be one, or the number of compressors included in the crushed material loading device 10 may be one. It is also possible to provide a number corresponding to each.

Next, the operation of loading the crushed material 80 into the target structure 150 using the crushed material loading device 10 will be described with reference to the flowchart of FIG. Note that FIG. 10 shows the flow of the drilling process and the loading process of the crushing material 80 after moving the crushing material loading device 10 to the upper part of the structure 150 to be crushed.

Although details are omitted, the crushing material loading device 10 is moved to the upper part of the structure 150 by combining expansion and contraction of one of the three legs and rotation of the legs by operating the operation unit 104. Alternatively, the wire may be hooked on the ring bolt 30 and the wire may be lifted by a crane and lowered onto the upper part of the structure 150. When changing the posture or position of the crushing material loading device 10 with respect to the structure 150, one of the three legs 16 can be expanded or contracted or the legs can be rotated by operating the operation unit 104. good.

The drilling process is from step S101 to step S107 of the flowchart shown in FIG.

Step S101 is a process of driving the drilling device. The control device 103 opens the control valve 116 provided on the air hose 115, and supplies the compressed air from the air compressor 102 to the drilling device 17. As a result, the rod 17a of the drilling device 17 rotates in a certain direction, and the rod 17a and the drilling bit 17b move up and down (striking).

Step S102 is a process of lowering the moving table by the slide device. The control device 103 opens the control valve 118 provided on the air hose 117, and at the same time, performs switching control on the solenoid valve 119 as needed. For example, if a signal is output from the position sensor 120, the control device 103 controls the flow of compressed air in the solenoid valve 119 so that the rod 50b protrudes from the cylinder body 50a by the supplied compressed air. do. Therefore, when the control valve 118 is opened, the rod 50b moves in the direction of protruding from the cylinder body 50a due to the supplied compressed air. As a result, the moving table 39 is lowered (see FIGS. 5 and 6).

When the moving table 39 is lowered, the drilling bit 17b fixed to the tip of the rod 17a of the rotating drilling device 17 presses the structure 150, and in the process of this pressing, the drilling bit 17b presses the structure 150. Shave (see FIG. 11). Therefore, a hole 155 is created in the structure 150.

Step S103 is a process of determining whether or not the position of the rod has been detected. When the control device 103 has not acquired the signal from the position sensor 121, the result of the determination process in step S103 is set to No. In this case, the control device 103 repeatedly executes the determination process of step S103 until the result of the determination process of step S103 is Yes.

On the other hand, when the signal from the position sensor 121 is acquired, the control device 103 sets the result of the determination process in step S103 to Yes. In this case, the process proceeds to step S104.

Step S104 is a process of raising the moving table by the slide device. The control device 103 controls switching of compressed air in the solenoid valve 119 provided on the air hose 117. That is, the control device 103 switches the flow of the compressed air in the solenoid valve 119 so that the rod 50b degenerates inside the cylinder body 50a by supplying the compressed air to the air cylinder 50. As a result, the rod 50b retracts inside the cylinder body 50a. That is, the moving table 39 rises.

Step S105 is a process of determining whether or not the position of the rod has been detected. When the control device 103 has not acquired the signal from the position sensor 120, the control device 103 sets the result of the determination process in step S105 to No. In this case, the control device 103 repeatedly executes the determination process of step S105 until the result of the determination process of step S105 is Yes.

On the other hand, when the signal from the position sensor 120 is acquired, the control device 103 sets the result of the determination process in step S105 to Yes. In this case, the process proceeds to step S106.

Step S106 is a process of stopping the moving table. The control device 103 closes the control valve 118 provided on the air hose 117. As a result, the supply of compressed air to the slide device 18 is stopped. As a result, the moving table 39 is stopped.

Step S107 is a process of stopping the driving of the drilling device. The control device 103 closes the control valve 116 provided on the air hose 115. As a result, the supply of compressed air to the drilling device 17 is stopped. That is, the driving of the drilling device 17 is stopped.

After the hole drilling treatment in steps S101 to S107 described above, the crushing material 80 is loaded. Hereinafter, steps S108 to S119 are processes for loading the crushing material 80.

For example, in the cartridge 19 of the crushing material loading device 10, four crushing materials 80 are stored in a state of being stacked in the vertical direction inside the holding cylinder 60. Of the four crushing materials 80, the crushing material 80 in the lowermost layer is supported by the rod 72a of the air cylinder 72 that has entered the inside through the opening 60c of the holding cylinder 60. Further, of the four crushing materials 80, the crushing material 80 located above the crushing material 80 in the lowermost layer is supported by the rod 71a of the air cylinder 71 that has entered the inside through the opening 60b of the holding cylinder 60. Of the four crushing materials 80, the upper two crushing materials 80 are stored in a state of being stacked on the crushing material 80 supported by the rod 71a of the air cylinder 71. At this time, as shown in FIG. 8A, the rotary table 76 of the loading device 20 is held in the first position, and the holding pieces 77 and 78 of the loading device 20 are held in the released state.

Step S108 is a process of supplying the crushed material to the charging device. The control device 103 opens the control valve 128 provided on the air hose 127, and also controls the switching of the flow of compressed air by the solenoid valve 129. As a result, the rod 72a of the air cylinder 72 is retracted and retracted from the inside of the holding cylinder 60. As a result, the bottom layer crushing material 80 supported by the rod 72a falls from the lower end of the holding cylinder 60. The crushed material 80 that has fallen from the lower end of the holding cylinder 60 enters between the holding portion 77a of the holding piece 77 and the holding portion 78a of the holding piece 78 at the release position (see FIG. 8A).

The control device 103 switches the flow of compressed air by the solenoid valve 129 after a lapse of a certain period of time. As a result, the rod 72a of the air cylinder 72 extends and enters the inside of the holding cylinder 60. Next, the control device 103 opens the control valve 124 provided on the air hose 123, and also controls the switching of the flow of compressed air by the solenoid valve 125. As a result, the rod 71a of the air cylinder 71 is retracted and retracted from the inside of the holding cylinder 60. As a result, the crushing material 80 supported by the rod 71a falls. The falling crushed material 80 is supported by the rod 72a of the air cylinder 72. The control device 103 switches the flow of compressed air by the solenoid valve 125 after a lapse of a certain period of time. The rod 71a of the air cylinder 71 extends and enters the inside of the holding cylinder 60. As a result, of the three stacked crushing materials 80, the crushing material 80 located in the center is supported by the rod 71a of the air cylinder 71 in the process of falling.

Step S109 is a process of gripping the crushed material by the gripping piece. The control device 103 opens the control valve 138 provided on the air hose 137, and also controls the switching of the flow of compressed air by the solenoid valve 139. As a result, the gripping mechanism 82 is driven, and the holding pieces 77 and 78 change from the released state to the gripped state. Therefore, the crushed material 80 that has fallen between the holding portions 77a and 78a is gripped by the holding pieces 77 and 78 (see FIG. 8B).

Step S110 is a process of rotating the rotary table. The control device 103 opens the control valve 132 provided on the air hose 131, and also controls the switching of the flow of compressed air by the solenoid valve 133. As a result, the rotation mechanism 81 is driven to rotate the rotary table 76 from the first position to the second position (see FIG. 8C).

Step S111 is a process of determining whether or not the rotary table has rotated to the second position. When the rotary table 76 rotates to the second position, the position sensor 135 detects the position of the rotary table 76. The detection signal is output to the control device 103. When the control device 103 has not acquired the signal from the position sensor 135, the control device 103 sets the result of the determination process in step S111 to No. In this case, the control device 103 repeatedly executes the determination process of step S111 until the result of the determination process of step S111 is Yes.

On the other hand, when the signal from the position sensor 135 is acquired, the control device 103 sets the result of the determination process in step S111 to Yes. In this case, the process proceeds to step S112.

Step S112 is a process of stopping the rotation of the rotary table. The control device 103 closes the control valve 132. As a result, the supply of compressed air to the rotating mechanism 81 is stopped. Therefore, the rotation of the rotary table 76 is stopped, and the rotary table 76 is held in the second position.

Step S113 is a process of releasing the gripping of the crushed material by the holding piece. The control device 103 opens the control valve 138 provided on the air hose 137, and also controls the switching of the flow of compressed air by the solenoid valve 139. As a result, the gripping mechanism 82 is driven, and the holding pieces 77 and 78 change from the gripped state to the released state. After that, the control device 103 closes the control valve 138. As a result, the holding pieces 77 and 78 are held in the released state (see FIG. 8D). For example, the second position coincides with the center position of the crushed material 80 sandwiched by the sandwiching pieces 77 and 78 and the center position of the hole 155 formed in the structure 150. Therefore, when the holding pieces 77 and 78 change from the gripped state to the released state, the gripped crushing material 80 falls toward the hole 155 (see FIG. 12).

Step S114 is a process of rotating the rotary table. The control device 103 opens the control valve 132 provided on the air hose 131, and also controls the switching of the flow of compressed air by the solenoid valve 133. As a result, the rotation mechanism 81 is driven, and the rotary table 76 rotates from the second position to the first position.

Step S115 is a process of determining whether or not the rotary table has rotated to the first position. When the rotary table 76 rotates to the first position, the position sensor 134 detects the position of the rotary table 76, and the signal is output to the control device 103. When the signal from the position sensor is not acquired, the control device 103 sets the result of the determination process in step S115 to No. In this case, the control device 103 repeatedly executes the determination process of step S115 until the result of the determination process of step S115 is Yes. On the other hand, when the signal from the position sensor is acquired, the control device 103 sets the result of the determination process in step S115 to Yes. In this case, the process proceeds to step S116.

Step S116 is a process of stopping the rotation of the rotary table. The control device 103 closes the control valve 132. As a result, the supply of compressed air to the rotating mechanism 81 is stopped. Therefore, the rotation of the rotary table 76 is stopped, and the rotary table 76 is held in the first position.

Step S117 is a process of lowering the moving table by the slide device. The control device 103 opens the control valve 118 of the air hose 117 and performs switching control in the solenoid valve 119. As a result, compressed air is supplied to the air cylinder 50 of the slide device 18. As a result, the rod 50b of the air cylinder 50 is extended and the moving table 39 is lowered. At the time of this lowering, the drilling bit 17b fixed to the tip of the rod 17a of the drilling device 17 presses the crushing material 80 and pushes the crushing material 80 into the hole 155 (see FIG. 13).

Step S118 is a process of determining whether or not a predetermined time has elapsed. The control device 103 measures the elapsed time from lowering the moving table 39 by the slide device 18. For example, if the posture of the crushing material loading device 10 is constant, the amount of movement of the moving table 39 is constant. Further, the length of the crushed material 80 loaded in the hole 155 formed in the structure 150 is constant. Therefore, when the crushing material 80 is pushed into the hole 155 by the crushing bit 17b of the crushing device 17, the crushing device 17 installed on the moving table 39 does not descend by the length of the crushing material 80. Therefore, it is impossible for the position sensor 121 included in the air cylinder 50 to detect the position of the rod 50b. Therefore, the control device 103 measures the elapsed time since the moving table 39 is lowered, and determines whether or not the elapsed time has elapsed a predetermined time that is assumed to have pushed the crushing material 80 into the hole 155. do. If the elapsed time has not elapsed for a predetermined time, the control device 103 sets the result of the determination process in step S118 to No. In this case, the control device 103 repeatedly executes the determination process of step S118 until the result of the determination process of step S118 is Yes.

On the other hand, when the elapsed time has not elapsed, the control device 103 sets the result of the determination process in step S118 to Yes. In this case, the process proceeds to step S119.

Step S119 is a process of raising the moving table by the slide device. The control device 103 opens the control valve 118 provided on the air hose 117, and performs switching control on the solenoid valve 119 as needed. The control device 103 switches and controls the solenoid valve 119 so that the compressed air supplied by opening the control valve 118 causes the flow of the compressed air when the rod 50b is degenerated to the cylinder body 50a. As a result, the rod 50b moves in the direction of degeneracy to the cylinder body 50a. As a result, the moving table 39 rises.

Step S120 is a process of determining whether or not the position of the rod has been detected. When the control device 103 has not acquired the signal from the position sensor 120, the result of the determination process in step S120 is set to No. In this case, the control device 103 repeatedly executes the determination process of step S120 until the result of the determination process of step S120 is Yes.

On the other hand, when the signal from the position sensor 120 is acquired, the control device 130 sets the result of the determination process in step S120 to Yes. In this case, the process proceeds to step S121.

Step S121 is a process of stopping the slide device. The control device 103 closes the control valve 118. As a result, the supply of compressed air to the slide device 18 is stopped. As a result, the slide device 18 is stopped.

By performing the processes from step S108 to step S121, the crushed material 80 is put into the hole 155 formed in the structure 150.

After the crushing material 80 is charged, a filling material such as epoxy resin, concrete, or concrete mortar is injected into the hole 155 into which the crushing material 80 is charged. By injecting the filling material, the hole 155 into which the crushing material 80 is inserted is closed. After the filling material is injected, the crushing material loading device 10 is collected or moved to another position to ignite the crushing material 80 charged into the hole 155 of the structure 150. As a result, the structure 150 is crushed.

The filling material may be injected by an injection device provided in the crushing material loading device 10, or by a device different from the crushing material loading device 10.

Further, as a method of closing the hole 155 into which the crushing material 80 is inserted, the following method can be mentioned. As shown in FIG. 14A, the crushing material 200 to be put into the hole 155 of the structure 150 includes the crushing material main body 201 and the case 202 including the filling material 203. The crushing material main body 201 is the same as the crushing material 80 of the present embodiment. The case 202 is fixed to the upper end of the crushed material main body 201. The case 202 has, for example, a rupture disk 202a at the upper end. It is preferable that the case 202 has a bellows structure or the like so that the filling material 203 easily flows out to the outside when it is crushed by a drilling device. The rupture disk 202a bursts when, for example, the pressure value applied to the rupture disc reaches a predetermined pressure value. The filling material 203 is preferably a reactive resin that starts curing when it comes into contact with air or water, or a reactive resin that starts curing when the two components are mixed. Further, the filling material 203 is preferably a soft material that is cured after flowing from the case 202 between the holes 155 of the structure 150 and the crushing material main body 201.

The crushing material 200 described above is loaded into the cartridge 19 of the crushing material loading device 10 and is charged into the hole 155 of the structure 150 by the loading device 20 as in the crushing material 80 of the present embodiment (FIG. 14A). reference). After that, the drilling device 17 is lowered. At this time, the drilling device 17 is being driven. Therefore, as shown in FIGS. 14 (b) and 14 (c), the drilling device 17 destroys the rupture disk 202a of the case 202 as the own device descends, and further crushes the case 202 downward. When the case 202 is crushed, the filling material 203 flows out from the opening (not shown) at the upper end of the case 202. The filling material 203 flows into the gap between the crushing material 201 and the hole 155 of the structure 150 and is cured. That is, the filling material 203 is hardened so as to cover the crushed material 201 (see FIG. 14C). The crushed case 202 is included in the hardened filling material 203.

Further, as a different method, the crushing material and the filling material can be put into the holes of the structure in the order of the crushing material and the filling material. In this case, the filling material is, for example, an AR chemical setter (registered trademark, manufactured by Asahi Kasei Corporation). The filling material has, for example, a tube portion containing a synthetic resin material (epoxy acrylate resin as an example) as a main material, and a curing agent wrapped around the outer peripheral portion of the tube portion at a predetermined interval over the entire collection. When the pipe portion is broken, the main material inside the pipe portion and the curing agent outside the pipe portion are mixed with this filling material, and curing starts. Even when this filling material is used, it is necessary to destroy the pipe portion by a drilling device. When the crushing material and the filling material are added in the order of the crushing material and the filling material, the crushing material and the filling material are alternately loaded into one cartridge in the order of the crushing material and the filling material from the bottom. NS. Further, two cartridges, a cartridge for storing the crushing material and a cartridge for storing the filling material, may be provided.

As described above, in the present embodiment, as the material of the main part of the crushed material loading device 10, for example, a metal that is not affected by the electromagnetic field at the work place, for example, aluminum or titanium is used, and the crushed material loading device 10 is used. Since each device of the machine is driven by compressed air, for example, preparations for crushing a structure at a work site where an electromagnetic field is generated can be easily and quickly performed, and explosives can be used. It is possible to crush the structure without using. Therefore, it is possible to prevent a secondary disaster at the disaster site. Further, in the crushing material loading device of the present embodiment, the posture of the device can be changed by expanding and contracting the legs and rotating the device body, so that it is possible to work in a work place where the scaffolding is poor. Become.

Further, in the crushing material loading device 10 of the present embodiment, the processing of the blasting bus from the crushing material 80 loaded in the hole 155 generated in the structure 150 is not described in detail. For example, when the blasting bus drawn from the crushing material 80 is long, the blasting bus from the crushing material 80 can be directly connected to an igniter (not shown). On the other hand, when the blasting bus drawn from the crushing material 80 is short, the blasting bus from the crushing material is connected to the bus from the igniter (blaster) by using a coupler such as a waterproof connector. .. Further, when the crushed material is loaded in a plurality of places, the plurality of crushed materials may be connected in series or in parallel. When a coupler such as a waterproof connector is used, the crushing material loading device requires a connector connection mechanism for connecting the blasting bus from the crushing material and the bus from the igniter with the coupling.

Couplers such as waterproof connectors are not suitable for use in areas affected by or may be affected by electromagnetic waves (beta rays, gamma rays) and leakage currents. Therefore, for example, it is also possible to use an electromagnetic coupling device for electromagnetic induction blasting disclosed in Japanese Patent Application Laid-Open No. 61-115897. The electromagnetic coupling device disclosed in this publication is convenient because the blasting bus from a plurality of crushing materials can be collectively coupled to the bus from the igniter.

In the present embodiment, the crushing material loading device 10 having one drilling device 17 is taken as an example, but the number of drilling devices 17 may be two or more. Although not shown, when two or more drilling devices are provided in the crushing material loading device, it is necessary to provide a slide device corresponding to each drilling device. In this case, the number of loading devices and cartridges may be provided corresponding to each drilling device, or one loading device or cartridge may be used to crush holes in the structure generated by each drilling device. The material may be added.

In the present embodiment, among the plurality of crushed materials 80 stacked and stored inside the holding cylinder 60 of the cartridge 19, the crushed material 80 of the lowest layer is gripped by the gripping mechanism 82 of the charging device 20 in the structure 150. The structure is such that the crushed material 80 is dropped into the hole 155 by moving it above the generated hole 155. However, the configuration of the input device is not limited to this embodiment, and may be the configuration shown below.

As shown in FIG. 15, the loading device 160 includes a turntable 161, a pressing device 162, and a sliding device (corresponding to the second moving device according to claim) 163. As shown in FIG. 16, the turntable 161 has a first holding portion 161a for holding the crushing material 165 and a second holding portion 161b for holding the filling material 166. In FIG. 16, in the turntable 161, the first holding portions 161a are arranged at 90 ° intervals, and the second holding portions 161b are arranged between the adjacent first holding portions 161a. The turntable 161 has a slit 161c from the first holding portion 161a toward the outer peripheral edge of the turntable 161. The slit 161c inserts a blasting bus route drawn from the crushing material 165 held in the first holding portion 161a.

As shown in FIG. 17A, leaf springs 167 for urging toward the center of the first holding portion 161a are provided at at least two positions on the inner peripheral surface of the first holding portion 161a. When the crushing material 165 is attached to the first holding portion 161a, the leaf spring 167 presses the outer peripheral surface of the crushing material 165 and enters the groove portion 165a provided on the outer peripheral surface of the crushing material 165 to crush the crushing material 165. It is possible to hold the material 165 in the first holding portion 161a. As shown in FIG. 17B, the leaf spring 167 is deformed against its own urging force when the crushing material 165 is pressed by the extension of the rod 173 of the pressing device 162, which will be described later. , Retreat from the groove 165a of the crushing material 165. Therefore, the crushed material 165 falls from the first holding portion 161a. Although not shown, the second holding portion 161b is also provided with a leaf spring for holding the crushed material, similarly to the first holding portion 161a.

Returning to FIG. 15, the turntable 161 is rotated by the drive motor 167. Examples of the drive motor include a servo motor. By rotating the turntable, the drive motor 167 moves the first holding portion 161a or the second holding portion 161b above the hole generated in the structure (or below the drilling bit 17b in the drilling device 17). Let me.

The pressing device 162 is, for example, an air cylinder. The pressing device 162 is connected to the air compressor 170 via the air hose 171. The pressing device 162 expands and contracts the rod 173 by switching the flow of compressed air by the solenoid valve 172. For example, when the rod 173 is extended, the crushing material 165 held by the first holding portion 161a or the filling material 166 held by the second holding portion 161b is pressed downward. The pressing device 162 is arranged at a position where the rod 173, the rod 17a of the drilling device 17, and the drilling bit 17b are coaxial when the rotating disk 161 is on the movement locus of the drilling device 17. In FIG. 15, reference numeral 174 is a control valve. The rotary disk 161, the pressing device 162, and the drive motor 167 described above are unitized, and the entire unit can be slid by the sliding device.

The slide device 163 is connected to the air compressor 170 via an air hose 176. The slide device 163 is a position where the above-mentioned rotary disk 161, the pressing device 162, and the drive motor 167 are inserted into the moving locus of the drilling device 17 by switching the flow of the compressed air by the solenoid valve 177 (two points in FIG. 15). It is moved between the position indicated by the chain line) and the position retracted from the movement locus of the drilling device 17 (the position indicated by the alternate long and short dash line in FIG. 15).

The slide device has position sensors 178,179. The position sensor 178 is a sensor that detects that the turntable 161 and the pressing device 162 and the drive motor 167 have moved to a position where they enter the movement locus of the drilling device 17. The position sensor 179 is a sensor that detects that the drilling device 17 has moved to a position where it is retracted from the movement locus. The signals from these position sensors 178 and 179 are output to the control device 180. In response to this, the control device 180 performs opening / closing control of the control valve 174 and switching control of the solenoid valve 177.

When such a device is used, the rotary disk 161, the pressing device 162, and the drive motor 167 are retracted from the movement locus of the drilling device 17, and the drilling device 17 performs the drilling process of the structure. In response to the execution and the completion of the hole drilling process, the rotary disk 161 and the pressing device 162 and the drive motor 167 may be moved on the movement locus of the hole drilling device 17. Then, if necessary, the turntable 161 can be rotated to charge the crushing material 165 and the filling material 166. After the filling material 166 is put into the hole, the rotating disk 161, the pressing device 162, and the drive motor 167 may be retracted, the hole drilling device 17 may be lowered, and the filling material 166 may be pushed into the hole.

In this case, regarding the treatment of the blasting bus from the crushing material 165, for example, when the blasting bus drawn from the crushing material 165 is long, for example, the operator manually manually attaches it to the igniter (not shown) or , The bus from the igniter and the blasting bus drawn from the crushing material may be connected to the connector. When the blasting bus is short, for example, a connector for automatically connecting the bus from the igniter and the blasting bus drawn from the crushing material 165 is provided in the crushing material loading device, and the crushing material is loaded. The bus and the blasting bus drawn from the crushing material 165 may be automatically connected.

In this embodiment, the rotary disk, the drive motor, and the pressing device are slid, but since these devices may be retracted from the movement locus of the drilling device, the rotary disk, the driving motor, and the pressing device are slid. It is also possible to rotate these devices or invert these devices instead of.

Further, the crushing material loading device in the present embodiment can be operated in a state where a part of the crushing material loading device (legs, drilling device, etc.) is submerged in water. When performing such work, it is preferable to attach a weight (weight) that cancels the buoyancy acting on the entire crushing material loading device to the tip of the leg or the like. By attaching a weight to the crushed material loading device, the center of gravity of the crushed material loading device can be lowered, and as a result, stable work can be performed.

10 ... Crushing material loading device, 15 ... Device body, 16 ... Leg, 17 ... Drilling device, 17b ... Drilling bit, 18,163 ... Slide device, 19 ... Cartridge, 20,160 ... Loading device, 77,78 ... Holding piece, 80, 165 ... Crushing material, 81 ... Rotating mechanism, 82 ... Gripping mechanism, 161 ... Rotating disk, 162 ... Pressing device, 166 ... Filling material

Claims (18)

With the device body
At least three or more legs provided on the device body and capable of changing the posture of the device body.
A drilling device that drills holes in structures to be crushed,
A throwing device for throwing a crushing material, which is a non-explosive crushing composition, into a hole created in the structure by the drilling device.
A crushing material loading device characterized by having. In the crushing material loading device according to claim 1,
By making the at least three legs expandable and contractible and the angle with respect to the device main body can be changed, it is possible not only to change the posture of the device main body but also to move the device main body. A crushing material loading device characterized by the fact that. In the crushing material loading device according to claim 1 or 2.
The device body has a first moving device that changes the relative position of the drilling device with respect to the structure.
The first moving device is
A moving table for fixing the drilling device and
The drive unit that moves the moving table and
The regulation part that regulates the moving direction of the moving table and
A crushing material loading device characterized by including. In the crushing material loading device according to any one of claims 1 to 3.
It has a holding device for holding the crushed material, and has
The holding device is
A holding cylinder for stacking and storing the plurality of the crushed materials, and
Of the plurality of crushed materials stored inside the holding cylinder, the position where the crushed material of the lowest layer is supported and the position of the bottom layer being retracted from the inside of the holding cylinder are provided. A first support member that moves between the position where the crushed material is discharged from the lower end of the holding cylinder, and
A crushing material loading device characterized by containing. In the crushing material loading device according to claim 4,
The holding device is
The position where the crushed material is supported, which is located above the crushed material in the lowermost layer, and the position where the crushed material is retracted from the inside of the holding cylinder, and the supported crushed material is inserted into the inside of the holding cylinder. However, a crushing material loading device further comprising a second support member arranged above the first support member, which is sent out toward the first support member. In the crushing material loading device according to claim 4 or 5.
The holding cylinder is a crushing material loading device having a slit along the longitudinal direction of the holding cylinder through which a blasting bus drawn from the crushing material is inserted. In the crushing material loading device according to any one of claims 4 to 6.
The loading device is
A pair of holding pieces for gripping the crushed material discharged from the holding device, and
The pair of holding pieces are moved between a first position located below the holding device and a second position for moving the crushed material above the holes created in the structure by the drilling device. Movement mechanism and
A crushing material loading device characterized by having. In the crushing material loading device according to claim 7.
The loading device is
A crushing material loading device further comprising a gripping mechanism for changing the pair of holding pieces between a gripping state for gripping the crushed material and a releasing position for releasing the gripping of the crushed material. In the crushing material loading device according to claim 3,
The drilling device is
A rod that rotates when driving,
It has a drilling bit that is fixed to the tip of the rod and presses against the structure when the rod is rotated to drill a hole in the structure.
When the crushing material is put into the hole generated in the structure, the first moving device moves the drilling device toward the hole and crushes the hole by the drilling bit. A crushing material loading device characterized by pushing the material. In the crushing material loading device according to any one of claims 1 to 9.
A crushing material loading device comprising an injection device for injecting a filling material into the hole after the crushing material is put into a hole formed in the structure. In the crushing material loading device according to any one of claims 1 to 3.
The loading device is
A turntable having a first holding portion for holding the crushed material at predetermined angular intervals, and
The drive unit that rotates the turntable and
A crushing material loading device characterized by having. In the crushing material loading device according to claim 11,
The turntable is a crushing material loading device having a second holding portion for holding a filling material to be put into the hole after the crushing material is put into a hole formed in the structure. In the crushing material loading device according to claim 11 or 12.
The drive unit is a crushing material, characterized in that the rotating disk is rotated so that either one of the first holding portion or the second holding portion is arranged above a hole generated in the structure. Loading device. In the crushing material loading device according to claim 13,
The loading device presses either the crushing material held in the first holding portion or the filling material held in the second holding portion, which is arranged above the hole generated in the structure. A crushing material loading device comprising a pressing device. The crushing material loading device according to any one of claims 11 to 14.
The loading device has a second moving device that moves the turntable between a first position that enters the moving locus of the drilling device and a second position that retracts from the moving locus of the drilling device. A crushing material loading device characterized by the fact that. In the crushing material loading device according to any one of claims 1 to 15.
A crushing material loading device comprising a wiring device for connecting a blasting bus drawn from the crushing material and an ignition wire connected to an igniter for igniting the crushing material to a connecting device. In the crushing material loading device according to any one of claims 1 to 16.
A control device that controls each part of the crushed material loading device, and
An input unit that outputs an operation command of the crushed material loading device toward the control device, and
A crushing material loading device characterized by having. The crushing material loading device according to any one of claims 1 to 17.
The crushing material loading device, wherein the at least three or more legs, the drilling device, and the loading device have a waterproof structure.

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