JP4649307B2 - Mechanical cutting device and cutting method using this device - Google Patents

Description

  The present invention relates to a mechanical cutting technique for mechanically cutting an object to be cut, such as a structure or a device, and in particular, a mechanical cutting device in which a mechanical cutting tool is attached to the tip side of a manipulator composed of an articulated arm mechanism, and The present invention relates to a cutting method using this apparatus.

  In nuclear facilities and chemical facilities, there is a risk of harmful substances adhering to the structures and equipment of the facilities, and equipment and structures to which harmful substances are attached may not be left as they are, but may be modified. Hazardous substances include radioactive substances and chemicals. The modification of the equipment and the structure includes a work of cutting the structure such as a metal tank or mount, and equipment such as piping.

  Among these metal structures, a device called a heat exchanger has a structure in which a plurality of piping groups are arranged and arranged inside. In the pipe group, since the pipes are densely arranged, the space formed between the pipes is narrow. It is difficult to stably fix a group of pipes in which each pipe is densely arranged, and it is difficult to fix the pipes. The cutting lines for each pipe become complicated, so the pipe cutting work is not easy and difficult. Was accompanied.

  Further, when cutting the device, it is necessary to avoid harmful substances adhering to the device from being scattered and adversely affecting the human body. For this reason, when cutting a structure or device to which harmful substances are attached, the operator can operate the machine remotely without approaching the structure or device, and the structure or device can be cut by this remote operation. It is desirable.

  As a cutting device for performing a cutting operation by remote operation on structures and equipment provided in a nuclear reactor facility or a chemical related facility, a pipe cutting device described in Japanese Patent Laid-Open No. 2002-160055 (Patent Document 1), There is an automatic reactor structure cutting device described in Japanese Patent No. 352293 (Patent Document 2) and a floor-arranged ultrasonic polishing and cutting device described in Japanese Patent Application Laid-Open No. 2001-242289.

In these cutting devices, a cutting tool using gas, arc, plasma, laser, etc. or a cutting tool using water jet cutting is attached to the tip of a manipulator with a small capacity, and the thermal reaction force is relatively small. A cutting tool or a fluid cutting tool is generally used.
Japanese Patent Laid-Open No. 2002-160055 JP 11-352293 A JP 2001-242289 A

  Cutting tools that perform thermal cutting such as gas, arc, plasma, and laser, and cutting tools that perform water jet cutting can be attached to a manipulator with a small capacity, and the cutting tool does not receive excessive reaction force from the cutting tool. There are many advantages.

  However, thermal cutting with a cutting tool such as plasma cutting or laser cutting melts the solid metal at room temperature and cuts the structure and equipment, so that even harmful substances adhering to the surface are melted and melted together. Therefore, processes such as cleaning after cutting and recycling of the cutting material are made difficult.

  Further, when a water jet cutting tool is used, since a large amount of water is used, a harmful substance is mixed by cutting, and it is difficult to treat the water containing the harmful substance. Furthermore, it is necessary to prevent the harmful substances from being scattered in the air and prevent the contamination and diffusion of the harmful substances. However, the prevention is difficult and not easy.

  The present invention has been made in consideration of the above-described circumstances, and does not dissolve harmful substances in the vicinity of the cutting part of structures or equipment, and it is easy to collect cutting products such as chips, cutting products. It is an object of the present invention to provide a mechanical cutting apparatus that can easily collect the above and a cutting method used in this apparatus.

  Another object of the present invention is to support a cutting tool that may generate an excessive cutting reaction force on a manipulator with a small capacity, and move the cutting tool two-dimensionally or three-dimensionally to cut structures and equipment. It is an object of the present invention to provide a mechanical cutting device that can smoothly and smoothly perform a cutting method used in this device.

In order to solve the above-described problems, a mechanical cutting device according to the present invention is provided with a mechanical cutting mechanism at the tip of a manipulator as described in claim 1, and the mechanical cutting mechanism is mechanically cut. A tool is provided, and the load capacity of the manipulator is set smaller than the cutting reaction force of the mechanical cutting tool.

Further, in order to solve the above-described problem, the cutting method using the mechanical cutting device according to the present invention is equipped with a mechanical cutting mechanism at the tip of the manipulator as described in claim 9, and this machine The cutting operation is carried out by remote control of a manipulator with a portable mass that is smaller than the cutting reaction force of the mechanical cutting tool, by moving the cutting mechanism along the piping group or other equipment or structure by restraining auxiliary devices. It is a cutting method to do.

  Since the mechanical cutting device and the cutting method using this device according to the present invention perform the cutting operation with the manipulator capacity smaller than the cutting reaction force of the mechanical cutting tool that mechanically cuts the object to be cut, the manipulator It is possible to effectively and reliably prevent the arm of the arm from rattling and to perform a stable and reliable cutting operation.

  In the present invention, the object to be cut is mechanically cut by a mechanical cutting device, so that harmful substances attached to the object to be cut can be prevented from melting into the material, and the cut product can be efficiently and easily recovered. It can be removed, cleaning after cutting and material recycling can be performed, and the material can be used effectively.

  An embodiment of a mechanical cutting device and a cutting method thereof according to the present invention will be described with reference to the accompanying drawings.

[First Embodiment]
FIG. 1 is an overall configuration diagram showing a first embodiment of a mechanical cutting device according to the present invention.

  The mechanical cutting device 10 has a manipulator 12 provided on a mounting base 11 such as a fixed installation base (base) or a mobile installation carriage of a nuclear reactor facility or a chemical related facility. A rotation drive motor (not shown) is provided at the node of the manipulator 12 and is supported so as to be rotatable around the support shafts 13a and 13b of the node.

  A manipulator 12 shown in FIG. 1 includes a base arm 15 that constitutes a base column installed on a mounting base 11 as a mounting seat, and an intermediate arm 16 that is rotatably provided at the distal end of the base arm 15. A multi-joint arm mechanism having a tip arm 17 rotatably provided at the tip (free end) of the intermediate arm 16 and a mounting arm 18 provided at the free end of the tip arm 17. ing.

  The mechanical cutting mechanism 14 is attached to the attachment arm 18 of the manipulator 12 constituting the articulated arm mechanism. The mechanical cutting mechanism 14 is attached to the attachment shaft 19 of the attachment arm 18 that is the tip of the manipulator 12. The base arm 15 may be supported so as to be rotatable about a substantially vertical arm axis.

  The mechanical cutting mechanism 14 is attached to the attachment shaft 19 at the distal end portion of the manipulator 12. The mechanical cutting mechanism 14 includes a device main body 20 attached to the attachment arm 18 at the tip of the manipulator 12 having a small capacity, a mechanical cutting tool 21 provided in the device main body 20, and the cutting tool 21 as an output shaft. Drive means 23 such as a drive motor that is driven via a spindle 22.

  The mechanical cutting tool 21 is a cutting tool having a cutting edge such as a band saw, a tip saw, a metal saw, a cutting tool, a cutting drill, a cutting miller or an end mill, a cutting grindstone, a cutting tool using elastic deformation, or a push cutting tool or a punching tool. It consists of cutting tools such as.

  The mechanical cutting mechanism 14 is attached to a distal end portion that is a free end portion of the manipulator 12 of the articulated arm mechanism. The manipulator 12 remotely drives a drive motor (not shown) provided at the joints of a plurality of joints, so that the mechanical cutting mechanism 14 is complicated to some extent in two dimensions (2D) or three dimensions (3D). Can give movement.

  The mechanical cutting mechanism 14 attached to the free end of the manipulator 12 can be used for cutting a cutting object 26 such as a structure or a device to which harmful substances are attached. This mechanical cutting mechanism 14 is mounted on the tip of the manipulator 12 and is suitable for work in severe environments such as a highly radioactive environment and a high temperature environment where workers cannot enter. It becomes.

  In FIG. 1, a mechanical cutting mechanism 14 is attached to the tip of a manipulator 12, and this mechanical cutting tool 21 is moved and controlled by remote control, and a pipe group of a heat exchanger as a cutting object 26 in a harsh environment. The example applied to 27 cutting work is shown.

  The mechanical cutting device 10 includes a mechanical cutting mechanism 14 that directly performs a cutting operation of a pipe group 27 that is a cutting object 26, and the mechanical cutting mechanism 14 is arranged at a desired position and angle by an articulated arm mechanism of a manipulator 12. The cutting work is performed by moving to. The manipulator 12 of the articulated arm mechanism can control the movement of the mounting base 11, the arms 15, 16, 17 and the like by remote operation of a control unit (not shown).

  When the mechanical cutting mechanism 14 attached to the distal end portion of the manipulator 12 cuts the pipe group 27 that is the cutting object 26, the capacity and size of the mechanical cutting tool 21 increase, and the mass increases. It is necessary to increase the capacity of the arms 15, 16, 17 and the mounting base 11 that support the mechanical cutting mechanism 14.

  Increasing the capacity (transportable mass) of the mechanical cutting mechanism 14 and the entire manipulator 12 is not preferable in terms of both initial cost and running cost. Therefore, the mass of the manipulator 12 is reduced, and a large force is applied with the manipulator 12 having a small mass. For example, it is preferable that the cutting force can be exhibited.

  The manipulator 12 has an arm capacity in the range of 25 kg to several hundred kg, preferably in the range of 25 kg to 200 kg, more preferably in the range of 25 kg to 100 kg. The manipulator 12 may target a 100 kg class having a load capacity of 80 kg to 100 kg and a 1 ton class exceeding several hundred kg.

  A manipulator 12 having a cutting reaction force of the cutting tool 21 larger than its capacity (portable mass) is used. In a normal manipulator, a manipulator having a capacity (for example, 500 kg) larger than the cutting reaction force (for example, 80 kg) of the band saw is used as the mechanical cutting tool 21. However, this is a normal usage mode of the manipulator and the cutting apparatus.

  The mechanical cutting device 10 shown in this embodiment employs a manipulator 12 having a smaller capacity than the cutting reaction force of the mechanical cutting tool 21, and performs cutting work with the mechanical cutting device 10 mounted on the manipulator 12 having a small capacity. There is to do.

  The point of carrying out the cutting operation by the mechanical cutting mechanism 14 mounted on the small-capacity manipulator 12 is to establish a method for effectively receiving the reaction force and moment from the mechanical cutting tool 21. Cutting reaction forces from various directions act on the articulated arm mechanism of the manipulator 12 during cutting. When various and various cutting reaction forces act, the arms 16, 17, and 18 cause the backlash to increase, and the cutting operation becomes unstable.

  Further, if the cutting object 26 is not securely fixed, the arms 16, 17, and 18 of the multi-joint arm mechanism receive a cutting reaction force from various directions, making the cutting operation unstable.

In order to stabilize the cutting work and realize stable cutting,
1) The manipulator 12 receives the cutting reaction force efficiently, and takes measures that can limit at least the cutting reaction force in one direction,
2) It is necessary to securely fix the cutting object 26, for example, the pipe group 27 of the heat exchanger.

  Next, the operation of the mechanical cutting device 10 will be described.

  A manipulator 12 is installed on a fixed or movable mounting base 11. The main body 20 of the mechanical cutting mechanism 14 is attached to the tip of the manipulator 12, and the cutting tool 21 of the mechanical cutting mechanism 14 is held so as to be movable two-dimensionally or three-dimensionally. At that time, the manipulator 12 may be rotatable around the arm axis of the erected base arm 15.

  With the mechanical cutting mechanism 14 mounted on the tip of the manipulator 12, the manipulator 12 is remotely operated to move the mechanical cutting mechanism 14 mounted on the tip of the manipulator 12 to the vicinity of the cutting position of the cutting object 26. .

  Subsequently, the driving means 23 of the mechanical cutting mechanism 14 is operated to drive the mechanical cutting mechanism 14. A mechanical cutting tool 21, for example, a rotary disc-shaped cutting tool, is driven to rotate through a spindle 22 by driving of a driving unit 23.

  The mechanical cutting tool 21 driven by the driving means 23 is moved against the fixed cutting object 26 in the up-and-down direction to perform a cutting operation. The operation of the mechanical cutting tool 21 may be driven to rotate by the driving means 23 only when the cutting object 26 to which the cutting tool is fixed is cut.

  In this way, the mechanical cutting mechanism 14 is mounted on the tip of the manipulator 12, and the manipulator 12 is driven remotely to approach the object 26 to be cut, and the cutting tool 21 of the mechanical cutting mechanism 14 is moved in the cutting direction. On the other hand, the cutting object 26 can be cut smoothly and smoothly by performing the cutting operation with the required driving force from the driving means 23.

  At this time, since the mechanical cutting mechanism 14 is attached to the tip of the manipulator 12 capable of complicated 2D or 3D movement, a single cutting operation can be performed even on a cutting object 26 having a somewhat complicated shape. The mechanical cutting tool 21 can be used. There is no need to provide a mechanical cutting tool 21 for each of the cutting objects 26 or to prepare a moving device for the mechanical cutting tool 21 for each of the cutting objects 26.

  In this mechanical cutting mechanism 14, the cutting work of the metal pipe group 27 of the object 26 to be cut can be performed with one mechanical cutting tool 21. It does not dissolve in the material and can be easily recovered together with the cutting chips or cutting powder, and no harmful substances are scattered around. Moreover, the cleaning after cutting becomes easy, and the used material can be used for recycling.

[Second Embodiment]
2 and 3 show a second embodiment of the mechanical cutting device according to the present invention.

  The mechanical cutting device 10A shown in this embodiment is configured such that the mechanical cutting mechanism 14A is mounted on the distal end portion of the manipulator 12 composed of an articulated arm mechanism. The mechanical cutting device 10A shown in the first embodiment is the same as the mechanical cutting device 10A shown in FIG. Therefore, the same components are denoted by the same reference numerals and description thereof is omitted.

  In the mechanical cutting mechanism 14 </ b> A shown in FIG. 2, the apparatus main body 30 is rotatably attached to the attachment arm 18 at the distal end portion of the manipulator 12. The apparatus main body 30 has a main body base 31 extending in the up-and-down direction, and an attachment base (elevating base) 33 is provided on the main body base 31 by an elevating mechanism 32 so as to be movable up and down.

  The elevating mechanism 32 has a drive motor 35 provided on the upper installation base 34 of the main body base 31 and an elevating screw shaft 37 to which the output of the drive motor 35 is transmitted via the speed reduction mechanism 36. A nut or a ball nut is screwed and embedded in the mounting base 33. The screw shaft 37 is erected on the main body base 31 so as to be rotatable around the shaft axis, and a guide shaft 38 is provided as a slide shaft in parallel with the screw shaft 37. A plurality of guide shafts 38, for example, two are provided so as to form a pair on both sides of the screw shaft 37.

  The mounting base 33 is screwed to the screw shaft 37 and is engaged with the guide shaft 38 to guide the ascending and descending. The mounting base 33 is moved up and down along the guide shaft 38 by the drive motor 35 and is slid in the vertical direction. In this manner, the mounting base 33 that is the lifting base is guided by the lifting mechanism 32 so as to be movable up and down with respect to the main body base 31 of the apparatus main body 30 attached to the distal end portion of the mechanical cutting mechanism 14A manipulator 12.

  An advancing / retreating screw shaft 43 supported by a drive motor 40 via a speed reduction mechanism 41 is also provided on the mounting base 32 provided on the main body base 31 so as to be movable up and down. The screw shaft 43 is provided in a lateral direction substantially orthogonal to the lifting screw shaft 37 of the lifting base (mounting base) 33, and the mounting body 45 is screwed so as to be able to advance and retreat to the pipe group 27 of the heat exchanger that is the object to be cut 26. Are combined.

  The drive motor 40, the speed reduction mechanism 41, and the screw shaft 43 constitute an advance / retreat mechanism 46 that reciprocates the mounting body 45 in a substantially horizontal direction. By this advance / retreat mechanism 46, the attachment main body 45 is attached to the cutting object 26 so as to freely advance and retract.

  The mounting body 45 is stably moved along a guide shaft 47 provided on the elevating base 33 in parallel with the screw shaft 43. The guide shaft 47 is also provided in parallel so as to sandwich the screw shaft 43 on both sides of the screw shaft 43, and smoothly guides the advancing and retreating movement of the mounting body 45.

  Further, a mounting body 45 is provided on a mounting base 33 as an elevating base so as to be movable back and forth via an advancing / retracting mechanism 46, and a mechanical cutting tool 48 is supported on the mounting body 45, while the cutting tool 48 is a drive motor or the like. The driving means 49 drives the spindle 50 through the spindle 50. The mechanical cutting tool 48 and the driving means 49 are provided on both sides of the box-shaped mounting body 45.

  2 and 3 show an example in which a tip saw is provided as the mechanical cutting tool 48 provided in the mechanical cutting mechanism 14A. The tip saw is a cutting tool in which a large number of cutting blades are mounted on the circumference of a rotating disk (disk).

  The mechanical cutting mechanism 14A includes a mounting main body 45, a driving means 49 such as a driving motor provided on the mounting main body 45, and a mechanical cutting tool 48 mounted on an output shaft (spindle) 50 of the driving means 49. With a tip saw.

  In this mechanical cutting mechanism 14 </ b> A, a cutting object 26 such as a structure or a device is fixed by a pipe fixing mechanism 53. The pipe fixing mechanism 53 fixes and holds, for example, the pipe group 27 of the heat exchanger, which is the object 26 to be cut, and the main body plate 54 of the pipe fixing mechanism 53 has a vertical direction that guides the movement of the mechanical cutting tool. A guide groove 55 is provided.

  The pipe fixing mechanism 53 is attached to the main body base 31 of the mechanical cutting mechanism 14A, and temporarily fixes an attachment base (elevating base) 33 provided in the elevating mechanism 32 and the pipe group 27 that is the object 26 to be cut. Is responsible. The pipe fixing mechanism 53 is attached to the main body base 31 of the apparatus main body 30 attached to the distal end portion of the manipulator 12, and the individual pipes of the pipe group 27 are temporarily fixed in this attached state. The temporary fixing of individual pipes means that the pipes are in a fixed state during a cutting operation and for a short time before and after the cutting operation.

  In this mechanical cutting mechanism 14A, an elevating mechanism 32 for guiding elevating of the elevating base 33 is provided, but the guide shaft 38 of the elevating mechanism 32 may be another guide component, and the screw shaft 37 is a gear or pulley. Other power transmission members such as a timing belt may be used. The same applies to the guide shaft 38 and the screw shaft 37 constituting the advance / retreat mechanism 32.

  Next, the operation of the mechanical cutting device 10A shown in the second embodiment will be described.

  This mechanical cutting device 10A is attached to the tip of a manipulator 12 composed of an articulated arm mechanism in the same manner as the mechanical cutting device 10 shown in the first embodiment, and is two-dimensional or three-dimensional by remote operation of the manipulator 12. It can be moved.

  On the other hand, the pipe group 27 of the heat exchanger that is the cutting object 26 is fixed by the pipe fixing mechanism 53, and the pipe fixing mechanism 53 is attached to the apparatus main body 30 of the mechanical cutting mechanism 14A as necessary.

  The mechanical cutting mechanism 14 </ b> A is provided with an elevating base 33 that can be moved up and down by an elevating mechanism 32 with respect to the main body base 31 of the apparatus main body 30 mounted at the tip of the manipulator 12. The mounting body 45 is provided by an advance / retreat mechanism 46 so as to freely advance and retract. A driving means 49 and a mechanical cutting tool 48 are attached to the attachment main body 45.

  In this way, the cutting tool 48 of the mechanical cutting mechanism 14A is moved up and down by the lifting mechanism 32 and moved forward and backward by the advance / retreat mechanism 46 in a direction orthogonal to the lifting direction. The mechanical cutting tool 48 is supported at the tip end region of the manipulator 12 so as to be movable up and down and back and forth.

  The mechanical cutting mechanism 14A is attached to the tip of the manipulator 12 and is moved two-dimensionally or three-dimensionally by remote operation, while the mechanical cutting mechanism 14A attached to the manipulator 12 is remote from the lifting mechanism 32 and the advance / retreat mechanism 46. By the operation, the mechanical cutting tool 48 is moved up and down or moved back and forth.

  The mechanical cutting mechanism 14 </ b> A moves near the cutting object 26 to a place where the pipe fixing mechanism 53 is temporarily fixed to the cutting object 26. Even when the pipe fixing mechanism 53 comes to a position for temporarily fixing the object 26 to be cut, the mechanical cutting tool 48 is moved to the left side of the pipe group 27 in FIG. 3 until the mechanical cutting tool 48 does not touch the pipe group 27 of the object 26 to be cut. Keep it.

  After the mechanical cutting mechanism 14A attached to the tip of the manipulator 12 is moved to the vicinity of the cutting location, the mechanical cutting mechanism 14A and the pipe group 27 are temporarily fixed by the pipe fixing mechanism 53.

  Thereafter, the driving means 49 of the mechanical cutting mechanism 14A is operated to rotate and drive the tip saw that is the mechanical cutting tool 48, and the advancing / retracting mechanism 46 and the elevating mechanism 32 are appropriately operated to perform the cutting work on the pipe group 27. Various other operation timings of the mechanical cutting tool 48 may be considered, and the cutting tool may be driven only when the piping group 27 is cut.

  This mechanical cutting device 10A allows the device main body 30 to be attached to a pipe fixing mechanism 53, the mechanical cutting mechanism 14A includes an elevating mechanism 32 and an advancing / retreating mechanism 46, and a mechanical cutting tool 48 at the tip of the manipulator 12. Since the manipulator 12 has the ability to carry the lifting mechanism 32 and the advance / retreat mechanism 46, that is, the capacity, it is possible to perform a cutting operation in which a large cutting reaction force is generated.

  In this case, the cutting reaction force of the mechanical cutting tool 48 that accompanies the cutting of the pipe group 27 of the heat exchanger that is the cutting object 26 is received and absorbed by the pipe fixing mechanism 53 and transmitted to the manipulator 12. Is prevented.

  Further, the mechanical cutting mechanism 14A can improve the rigidity of the spindle 50, the lifting mechanism 32, the advance / retreat mechanism 46, and the pipe fixing mechanism 53, which are output shafts of the driving means 49 for driving the mechanical cutting tool 48, so that the cutting reaction force is improved. The vibration associated with the load capacity and the cutting work can be further suppressed, and even when the work environment is poor, it is possible to cope with a severer cutting work.

  The manipulator 12 may have a capacity that only bears an increase in mass of the mechanical cutting device 10A (compared to the mechanical cutting device 10 of the first embodiment). The capacity (capacity) can be reduced, and it is sufficient that the manipulator 12 has a small capacity (portable mass).

[Third Embodiment]
4 and 5 show a third embodiment of a mechanical cutting device 10B according to the present invention.

  FIG. 4 is a side view of the mechanical cutting device 10B according to the third embodiment, and FIG. 5 is a plan view of the mechanical cutting device 10B. The mechanical cutting device 10B shown in the third embodiment is also the one in which the mechanical cutting device 10B is attached to the tip of the manipulator 12, and the same configuration as the mechanical cutting device 10 shown in the first embodiment is used. The same reference numerals are given and the description is omitted.

  The mechanical cutting mechanism 14B shown in FIG. 4 is provided with an engagement protrusion 60 on the back side of the apparatus main body 20, and the engagement protrusion 60 is a restraint that fixes both pipe groups 27 of the heat exchanger that is the object 26 to be cut. It is engaged and supported in the engagement guide groove 62 of the auxiliary device 61.

  The restraint assisting device 61 has an engagement guide groove 62 constituting an engagement guide mechanism and a pipe fixing mechanism 63 for fixing the pipe group 27. The pipe fixing mechanism 63 has a mechanical cutting tool on the front side of the main body plate 64. A cutting guide groove 65 for guiding the elevation of 21 is provided in the elevation direction. An engagement guide groove (slide engagement groove) 62 is provided in parallel with the cutting guide groove 65, and an engagement guide mechanism 59 is configured. The slide engagement groove 62 is formed between a pair of key-like stoppers 67 protruding from the surface of the main body plate 64 of the mechanism main body 66, and guides the engagement protrusion 60 engaged with the slide engagement groove 62 so as to be slidable in the up-and-down direction. is doing. The slide engagement groove 62 and the engagement protrusion 60 are formed to have a complementary shape in plan view. The engagement protrusion 60 that slides up and down while being guided by the slide engagement groove 62 is stable in the up-and-down direction, and the engagement protrusion 60 is prevented from being pulled out of the slide engagement groove 62.

  The engagement protrusion 60 has an engagement head 68 that engages with the slide engagement groove 62, and the engagement head 68 engages with a key-shaped stopper 67 of the slide engagement groove 62, thereby preventing extraction.

  The mechanical cutting device 10B shown in the third embodiment picks up a tip saw as an example of the cutting tool 21, and the pipe group 27, which is the object to be cut 26, is connected to the pipe group 27 by the mechanical cutting tool 21 of the tip saw. The example cut | disconnected along the dashed-two dotted line part of the center vicinity is shown.

  The mechanical cutting mechanism 14 </ b> B shown in FIGS. 4 and 5 is directly attached to the distal end portion of the manipulator 12. In the mechanical cutting mechanism 14B, a restraint assisting device 61 that temporarily fixes the pipe group 27 and guides the movement of the mechanical cutting tool 21 is used. The restraint auxiliary device 61 includes a pipe fixing mechanism 63 that fixes the pipe group 27 and a restraint guide mechanism 59 that guides the mechanical cutting tool 21 in the up-and-down direction.

  The mechanical cutting mechanism 14B slides smoothly along the slide guide groove 62 of the restraint assist device 61, and is guided up and down in the vertical direction. The slide guide groove 62 is formed in the ascending / descending direction, and allows the ascending / descending direction of the mechanical cutting mechanism 14B only in one direction. The movement of the mechanical cutting mechanism 14B other than the lifting / lowering direction is restrained by the slide guide groove 62.

  In the third embodiment, an example in which a restraint guide mechanism 59 is configured by providing a slide guide groove 62 in the pipe fixing mechanism 63 of the restraint assist device 61 and providing an engagement protrusion 60 in the device main body 20 of the mechanical cutting mechanism 14B is shown. However, the engagement protrusion 60 may be provided on the restraint auxiliary device 61 side, and the slide guide groove may be provided in the device main body 20. The mechanical cutting mechanism 14B guides the mechanical cutting tool 21 only in the up-and-down direction and restrains movement in directions other than the up-and-down direction. Any other structure may be used as long as this constraint is performed. For example, you may comprise by the restraint guide mechanism which combined the slide rail and the slider or slide block along a slide rail.

  Next, the operation of the mechanical cutting device 10B will be described.

  The mechanical cutting device 10B shown in the third embodiment also has a mechanical cutting mechanism 14B attached to the distal end portion of the manipulator 12, and the mechanical cutting mechanism 14B can be two-dimensional (2D) or three-dimensional ( 3D) It is moved.

  Even if the mechanical cutting mechanism 14B attached to the manipulator 12 is brought close to the piping group 27 of the heat exchanger that is the cutting object 26, when the mechanical cutting mechanism 14B is separated from the piping group 27, the piping The group 27 is temporarily fixed by the pipe fixing mechanism 63 of the restraint assisting device 61.

  The mechanical cutting mechanism 14B is operated in a state where the pipe group 27 is temporarily fixed by the pipe fixing mechanism 63, and for example, the tip saw as the mechanical cutting tool 21 is driven to rotate.

  Next, the manipulator 12 is operated by remote operation, and the engagement protrusion 60 associated with the mechanical cutting mechanism 14B is fitted into the slide engagement groove 62 of the restraint assisting device 61 and engaged. Subsequently, the distal end portion of the manipulator 12 is moved along the slide guide groove 62, and the pipe group 27 is cut by the mechanical cutting tool 21. Various other timings for driving the mechanical cutting tool 21 are also conceivable.

  According to the mechanical cutting device 10B shown in the third embodiment, the manipulator 12 bears only the weight of the mechanical cutting device 10B. The mechanical cutting device 10A shown in the second embodiment can further reduce the weight of the manipulator 12 because the lifting mechanism 32 and the advance / retreat mechanism 46 "are not required.

  Further, the cutting reaction force received during cutting by the cutting tool 21 provided in the mechanical cutting device 10B is only the reaction force of only the cutting direction component (lifting direction), and stable cutting can be achieved by appropriately setting the cutting speed. It becomes possible.

  In addition, the mechanical cutting tool 14B, the restraint assisting device 61, and the cutting object 26 are arranged so that the cutting operation by the vertical movement of the mechanical cutting tool 21 is performed so that the cutting direction is from the top to the ground. By adjusting the weight of the mechanism 14B by adding an appropriate weight, it is possible to cut only with the weight component.

  In this mechanical cutting mechanism 14B, a severe cutting operation can be performed using the manipulator 12 having a capacity smaller than the cutting reaction force accompanying the cutting of the mechanical cutting tool 21.

[Fourth Embodiment]
FIG. 6 shows a fourth embodiment of a mechanical cutting device 10C according to the present invention.

  The mechanical cutting device 10 </ b> C shown in this embodiment is characterized by a pipe fixing mechanism 70 that supports a pipe group 27 of a heat exchanger that is a cutting object 26. Since other configurations are not different from the mechanical cutting device 10 shown in the first embodiment, the same components are denoted by the same reference numerals and description thereof is omitted.

  The pipe fixing mechanism 70 that supports the pipe group 27 as the cutting object 26 includes a fixed frame 72 erected on a fixed base frame 71 and a horizontal frame that faces the fixed frame 72 and is fixed to the base frame 71. The movable frame 74 has a movable frame 74 that is rotatable around the support shaft 73. The movable frame 74 is operated by an operating mechanism such as an operating cylinder 75 actuator, and an operating position facing the fixed frame 72 and a non-operating position separated from the fixed frame 72. Is supported in a swingable manner.

  When the movable frame 74 takes the operating position, the piping group 27 is sandwiched and supported between the frames 72 and 74 and temporarily fixed.

  Next, the operation of the mechanical cutting device 10C shown in the fourth embodiment will be described.

  Similar to the mechanical cutting device 10 shown in the first embodiment, the mechanical cutting device 10C has a mechanical cutting mechanism 14C attached to the tip of the manipulator 12, and by remotely operating the manipulator 12, It can be moved in two dimensions (2D) or three dimensions (3D).

  The manipulator 12 to which the mechanical cutting mechanism 14C is attached can be freely moved by remote operation.

  On the other hand, the operating cylinder 75 or the actuator is operated to open the movable frame 74, and the piping group 27 of the cutting object 26 is carried between the movable frame 74 and the fixed frame 72 in a state where the movable frame 74 is opened. With the piping group 27 transported between both frames 72 and 74, the operating cylinder 75 or actuator is operated to close the movable frame 74, and the piping group 27 is sandwiched so that the piping group 27 is supported between the frames 72 and 74. , Temporarily fixed.

  The pipe fixing mechanism 70 shown in FIG. 6 is installed on the floor and has a structure in which the upper part of the movable frame 74 opens. However, a pipe fixing mechanism in which the lower part of the movable frame 74 opens may be adopted. In this case, the piping fixing mechanism may be suspended and supported.

  In the mechanical cutting device 10C shown in the fourth embodiment, the fixed frame 72 or the movable frame 74 is provided with a slide engaging groove or an engaging protrusion, and the mechanical cutting tool 21 has an engaging protrusion or an engaging protrusion. By providing the slide engagement groove, a restraint assist device similar to the restraint assist device 61 shown in the third embodiment can be provided.

  Also in this case, the same effects as the mechanical cutting devices 10A and 10B shown in the second embodiment or the third embodiment can be obtained.

[First Modification]
FIG. 7 shows a first modification of the pipe fixing mechanism 80 provided in the mechanical cutting device.

  This pipe fixing mechanism 80 is provided with a comb-shaped support portion 82 on one frame 81 of a fixed frame and a movable frame. This support portion 82 is provided with support pins 83 as restraining pins at a required mounting pitch. Each pipe of the pipe group 27 is stored and held in the engagement holding groove 84 formed between the support pins 83.

  The comb-like support portion 82 provided on the frame 81 of the pipe fixing mechanism 80 shown in this modification is suitable for the case where the pipe group 27 is in one line or only the front surface side of the pipe group 27 is cut. It is.

  The pipe fixing mechanism 80 is set so that the mounting pitch between the support pins 83 is the same as the pipe pitch of the pipe group 27 to be cut, and guides each pipe of the pipe group 27 to the storage groove 84 between the support pins 83. Are held together.

  The pipe fixing mechanism 80 abuts the pipe fixing mechanism 80 on the pipe group 27 and inserts comb-shaped support pins 83 between the pipes of the pipe group 27 to engage and hold the pipes. The group 27 can be restrained with respect to the moving direction of the mechanical cutting tool 21 (48).

  Since it is effective to restrain the piping group 27 in the direction in which the mechanical cutting tool 21 (48) moves, in the example of restraining the piping group 27 by the piping fixing mechanism 80 shown in FIG. It is assumed that the moving direction of the cutting tool 21 (48) is from top to bottom (or from bottom to top).

  Further, the pipe fixing mechanism 80 may be provided with a frame abutted from the right side of FIG. 7 and hold the pipe group 27 between the frame and the frame 81 with comb teeth from the left side.

[Second Modification]
FIG. 8 shows a second modification of the pipe fixing mechanism.

  In the pipe fixing mechanism 80A shown in this modification, support portions 82a and 82b are respectively formed at opposing portions of the right frame 81b and the left frame 81a shown in FIG. 8, and comb-like support pins 83a are formed on the support portion. , 83b are fixed at a required mounting pitch. Although the support pins 83a and 83b formed on both the frames 81a and 81b may be provided at opposite positions depending on the mounting pitch, as shown in FIG. 8, the support pin 83b of the right frame 81b is replaced with the support pin of the left frame 81a. It is formed with a relative shift by a half pitch from 83b.

  This is suitable when the piping group 27 has two rows. Each pipe of the two rows of pipe groups 27 is held between the storage groove (engagement holding groove) 84a of the left frame 81a and the support pin 83b of the right frame 81b, and the other groups of pipe groups 27 are held on the right side. You may make it hold | maintain with the accommodation groove | channel 84a of the flame | frame 81b, and the support pin 82a of the left side flame | frame 81a.

  The pipe fixing mechanism 80A includes left and right frames 81a and 81b having support portions 82a and 82b at opposing portions, and comb-shaped support pins 83a and 83b implanted in the support portions 82a and 82b of the left and right frames 81a and 81b. Composed. The mounting pitch of the support pins 83a and 83b is equal to the piping pitch of the pipe group 27 to be cut, and the gap dimension between the adjacent support pins 83a and 83b is slightly smaller than the gap between adjacent pipes of the pipe group 27. Configured to dimensions.

  The pipe fixing mechanism 80A shown in the second modification applies the pipe fixing mechanism 80A to the pipe group 27, and inserts the support pins 83a and 83b of the left and right frames 81a and 81b into the gaps between the pipes of the pipe group 27. By holding each pipe, the two rows of pipe groups 27 can be restrained with respect to the moving direction of the mechanical cutting tool 21.

  In the pipe fixing mechanism 80A, each pipe of the pipe group 27 can be easily and smoothly restrained and fixed with respect to the cutting direction of the mechanical cutting tool 21.

[Third Modification]
FIG. 9 shows a third modification of the pipe fixing mechanism 90 provided in the mechanical cutting device.

The pipe fixing mechanism 90 shown in the third modified example is one in which one line of the pipe group 27 is held by saw-toothed support teeth 93a and 93b provided on the support portions 92a and 92b of the left and right frames 91a and 91b. . In the left and right frames 91a and 91b, the pipes of the pipe group 27 in one row are engaged and held in the engagement holding grooves 94a and 94b formed between the adjacent sawtooth support teeth 93a and 93b.

  When the pipe group 27 held by the pipe fixing mechanism 90 is in a single row, the vertical positions of the peaks and valleys of the support teeth 93a, 93b formed on the support portions 92a, 92b of the left and right frames 91a, 91b are the same. It is formed to become. In the case where the pipe group 27 is in one row, sawtooth support teeth 93a or 93b may be formed on either one of the left and right frames 91a and 91b.

  When the pipe group 27 has two rows, the pipe fixing mechanism 90 constitutes a fourth modification, and sawtooth support teeth 93a formed on the support portions 92a and 92b of the left and right frames 91a and 91b. 93b is provided to shift the ascending / descending direction by a half pitch.

  In the pipe fixing mechanism 90, the left and right frames 91a and 91b are opened, and the pipe group 27 is positioned between the frames. Thereafter, by closing the left and right frames 91a and 91b, the pipe group 27 is placed between the support portions 92a and 92b of the left and right frames 91a and 91b, and is temporarily fixed.

  This pipe fixing mechanism 90 is a fixing structure of the pipe group 27 that is useful when the pipe pitch of the pipe group 27 is varied or accurate positioning is difficult.

  Even using the pipe fixing mechanism 90 shown in the third modification, the pipe group 27 can be easily restrained and fixed with respect to the cutting direction of the mechanical cutting tool 21 (48).

  In the embodiment of the present invention, an example in which each pipe of the pipe group is sandwiched and fixed to the pipe fixing mechanism from both sides is shown, but in order to stably restrain and hold each pipe of the pipe group to the pipe fixing mechanism Preferably, each part of the pipe fixing mechanism that comes into contact with each pipe of the pipe group is magnetized. In order to magnetize a required part or the whole of the pipe fixing mechanism, for example, the movable frame 74 shown in the fourth embodiment is magnetized, and each of the pipe groups 27 made of metal, for example, a carbon steel pipe, is magnetized on the movable frame 74. Stable fixing of each pipe can be performed simply by bringing the pipe into contact. The left and right frames 91a and 91b shown in FIGS. 9 and 10 can stabilize the fixing of the pipe group 27 by magnetizing the frame surface undulations of the support portions 92a and 92b.

1 is a schematic configuration diagram showing a first embodiment of a mechanical cutting device according to the present invention. The partial side view which shows 2nd Embodiment of the mechanical cutting device which concerns on this invention. Sectional drawing which follows the III-III line | wire of FIG. The partial side view which shows 3rd Embodiment of the mechanical cutting device which concerns on this invention. The top view of the mechanical cutting device shown by FIG. The side view which shows 4th Embodiment of the mechanical cutting device which concerns on this invention. The fragmentary figure which shows the 1st modification of the piping fixing apparatus with which the mechanical cutting device which concerns on this invention is equipped. The fragmentary figure which shows the 2nd modification of a piping fixing device. The partial view which shows the 3rd modification of a piping fixing device. The fragmentary figure which shows the 4th modification of a piping fixing device.

Explanation of symbols

10, 10A, 10B, 10C Mechanical cutting device 11 Mounting base (base)
12 Manipulators 13a, 13b Support shafts 14, 14a, 14b Mechanical cutting mechanism 15 Base arm (base strut)
16 Intermediate arm 17 Tip arm 18 Attachment arm 20 Main body 21 Mechanical cutting tool 22 Spindle (output shaft)
23 Drive means (drive motor)
26 cutting object 27 piping group 30 apparatus main body (mechanism main body)
31 Main body base 32 Lifting mechanism 33 Mounting base (lifting base)
34 Upper installation base 35 Drive motor 36 Deceleration mechanism 37 Elevating screw shaft 38 Guide shaft 40 Drive motor 41 Deceleration mechanism 43 Advance / retreat screw shaft 45 Mounting body 46 Advance / retreat mechanism 47 Guide shaft 48 Mechanical cutting tool 49 Drive means (drive motor)
50 spindle (output shaft)
53 Piping fixing mechanism 54 Main body plate 55 Guide groove 59 Restriction guide mechanism 60 Engagement protrusion 61 Restriction auxiliary device 62 Engagement guide groove (slide engagement groove)
63 Pipe fixing mechanism 64 Main body plate 65 Cutting guide groove 66 Mechanism main body 67 Cover-shaped stopper 68 Engagement head 70 Pipe fixing mechanism 71 Base frame 72 Fixed frame 73 Support shaft 74 Movable frame 75 Actuating mechanism (actuating cylinder, actuator)
80, 80A, 80B Piping fixing mechanism 81, 81a, 81b Frame 82, 82a, 82b Support part 83, 83a, 83b Support pin 84, 84a, 84b Engagement holding groove 91, 91a, 91b Frame 92, 92a, 92b Support part 93, 93a, 93b Support teeth 94, 94a, 94b Engagement holding groove

Claims (9)

A mechanical cutting mechanism is attached to the tip of the manipulator, a mechanical cutting tool is provided in the mechanical cutting mechanism, and the load capacity of the manipulator is set smaller than the cutting reaction force of the mechanical cutting tool. Mechanical cutting device. The manipulator is composed of an articulated arm mechanism, a mechanical cutting tool that is driven by a driving means is provided in a mechanical cutting mechanism that is attached to the tip of the manipulator, and a pipe group is fixed to the mechanical cutting mechanism and the machine The mechanical cutting device according to claim 1, further comprising a restraining auxiliary device that also serves as a moving guide for the type cutting mechanism. The restraint assisting device is detachably provided with a pipe fixing device for fixing the pipe group, and a mechanical cutting tool can be moved up and down along the pipe group by an elevating mechanism and an advancing / retracting mechanism provided in the mechanical cutting mechanism. The mechanical cutting device according to claim 1, wherein the mechanical cutting device is provided so as to freely advance and retract toward the pipe group. The restraint auxiliary device includes a pipe fixing device that fixes a pipe group, and a restraint guide mechanism that guides the mechanical cutting mechanism so as to be movable up and down along the pipe fixing device, and restrains a direction other than the lifting and lowering direction of the mechanical cutting mechanism. The mechanical cutting device according to claim 2. 5. The mechanical type according to claim 3, wherein the pipe fixing device has a fixed frame and a movable frame provided to face the fixed frame, and the pipe group is temporarily sandwiched and fixed between the two frames. Cutting device. In the pipe fixing device, comb-shaped or sawtooth-shaped support pins or support teeth are provided at a required mounting pitch in the support portion of the frame, and each of the pipe groups is provided in the engagement holding groove between the support pins or between the support teeth. The mechanical cutting device according to claim 3 or 4, wherein the piping is held. In the pipe fixing device, support portions are formed in opposing portions of the left and right frames, and comb-shaped support pins and sawtooth support teeth provided at a required mounting pitch are opposed to the support portions of the left and right frames, or 6. The mechanical cutting device according to claim 5, wherein the mechanical cutting device is provided by being shifted by a half pitch between the left and right frames. The mechanical cutting device according to claim 3, wherein the pipe fixing device magnetizes portions of the pipe group that are in contact with each pipe, and uses magnetic force to fix the pipe group. A mechanical cutting mechanism is attached to the tip of the manipulator, and this mechanical cutting mechanism is moved along a device or structure such as a piping group by being restrained by a restraining auxiliary device,
A cutting method using a mechanical cutting device, wherein a cutting operation is performed by remote operation of a manipulator having a portable mass smaller than a cutting reaction force of a mechanical cutting tool.

Images